2
 0.985566   -0.1628 0.0464221 0.0759926
0.0770883  0.675728  0.733109 0.0640537
-0.150719 -0.718949  0.678524  0.740495
        0         0         0         1
   0.970787    0.239897 -0.00470602  -0.0316315
  -0.158447    0.655666    0.738239   -0.110871
   0.180187   -0.715927    0.674523    0.964166
          0           0           0           1
