2
 0.197274  0.978413 0.0615746     0.132
-0.714216  0.100412  0.692686 0.0264628
  0.67155 -0.180626  0.718606  0.881755
        0         0         0         1
 -0.367725   0.929934 0.00110539  -0.167455
 -0.671114  -0.266201   0.691913  0.0829542
  0.643728   0.253691   0.721981   0.831965
         0          0          0          1
