2
   0.93534  -0.337652   0.105496 -0.0144612
 -0.244229  -0.832118  -0.497928  0.0173025
  0.255911   0.439967  -0.860778    0.77822
         0          0          0          1
 0.615367 -0.776293  0.136721 -0.229738
-0.655236 -0.600196 -0.458728 -0.175695
 0.438166  0.192701 -0.877996  0.846968
        0         0         0         1
