2
 -0.567311   0.815194   0.116698 -0.0971282
  0.648919   0.529775  -0.546116 -0.0700099
 -0.507014  -0.234089  -0.829542   0.781253
         0          0          0          1
-0.0496454   0.994903  0.0877679   0.203588
  0.814197  0.0912104  -0.573379  -0.016675
 -0.578462  0.0429947  -0.814575   0.773387
         0          0          0          1
