2
   0.969421   -0.214889    0.118512 -0.00492021
 -0.0642673   -0.688385   -0.722493   0.0837065
   0.236838    0.692784   -0.681145    0.667672
          0           0           0           1
 0.704832  -0.69807  0.126137 -0.190194
-0.449316 -0.576921 -0.682113 -0.100903
 0.548933  0.424099 -0.720286  0.817456
        0         0         0         1
