2
   0.972133    0.231654   -0.035966 -0.00840173
  -0.167164    0.792553    0.586444   0.0917806
   0.164357    -0.56409    0.809191    0.762465
          0           0           0           1
   0.70162   0.710307 -0.0565121  -0.198503
 -0.576256   0.612277   0.541337  -0.109121
  0.419117  -0.347247   0.838904   0.884711
         0          0          0          1
