2
    0.86153    0.452173     0.23088 -0.00359744
     0.4979   -0.663527   -0.558415    0.144744
 -0.0993052    0.596046   -0.796786    0.792609
          0           0           0           1
  0.976747 -0.0677067   0.203426 0.00991665
 0.0580391  -0.829897  -0.554891   -0.10543
  0.206392   0.553794  -0.806669   0.960697
         0          0          0          1
