2
 0.984046 -0.155462 0.0865154   0.16217
0.0623577  0.756808  0.650657 0.0752617
-0.166628 -0.634881  0.754428  0.673188
        0         0         0         1
 0.914656  0.392545    0.0965 0.0825346
-0.359817  0.681827  0.636902 -0.133551
 0.184216 -0.617268  0.764882  0.879039
        0         0         0         1
