2
  0.488947  -0.868165 -0.0849765  0.0799182
 -0.777397  -0.389482  -0.493921  -0.151905
  0.395708   0.307562  -0.865344   0.703117
         0          0          0          1
 -0.050242  -0.998155  -0.034092   -0.22139
 -0.882879   0.060346  -0.465707  -0.160118
  0.466905 0.00670107  -0.884282   0.719078
         0          0          0          1
