2
   0.991627  -0.0928424  -0.0897611   0.0354881
    0.12912    0.701097    0.701278    0.170696
-0.00217707   -0.706996    0.707214    0.747993
          0           0           0           1
  0.900832   0.431753 -0.0457252 -0.0744734
 -0.289776   0.676325    0.67721 -0.0450534
  0.323313  -0.596803   0.734367   0.938484
         0          0          0          1
