2
   0.968149   -0.167523    0.186075  0.00371894
 -0.0437539   -0.844949   -0.533055 -0.00782875
   0.246523    0.507935   -0.825366    0.708609
          0           0           0           1
  0.74246 -0.637567  0.205575 -0.166392
-0.482313 -0.721739 -0.496455 -0.231788
 0.464895  0.269447 -0.843369  0.801907
        0         0         0         1
