2
  0.985889  0.0155421  -0.166676   0.173378
-0.0865363  -0.805001  -0.586928  0.0467956
 -0.143296   0.593069  -0.792297   0.659002
         0          0          0          1
 0.909457  -0.38736 -0.151132 0.0593994
-0.398303 -0.707277  -0.58405 -0.159838
 0.119345  0.591365 -0.797525  0.849602
        0         0         0         1
