2
   0.996266 -0.00487429   0.0861999   0.0673816
 -0.0596361    0.683108    0.727878    0.037829
 -0.0624317   -0.730301    0.680266    0.735494
          0           0           0           1
  0.926247   0.374912  0.0388254 -0.0679527
 -0.287298   0.635582   0.716586  -0.129664
   0.24398  -0.674891   0.696417   0.951397
         0          0          0          1
