2
 0.085178 -0.905268  0.416214 0.0842183
-0.903273 -0.246468 -0.351216 -0.224135
 0.420528 -0.346039 -0.838697  0.897788
        0         0         0         1
 -0.39415 -0.793061  0.464436 -0.165282
-0.907173  0.254757 -0.334866 -0.185672
 0.147251 -0.553311 -0.819856  0.727418
        0         0         0         1
