2
  0.976965   0.141294  -0.159922 0.00215609
-0.0458272   0.870832    0.48944 -0.0161405
   0.20842  -0.470837   0.857248   0.738387
         0          0          0          1
   0.7577  0.627126 -0.180564 -0.160834
-0.494757  0.732436  0.467712 -0.249387
 0.425565  -0.26505  0.865242  0.828102
        0         0         0         1
