2
   0.37137   0.872487   0.317571  -0.167942
  0.685476 -0.0269372  -0.727597 -0.0239787
 -0.626264   0.487895  -0.608073   0.633045
         0          0          0          1
 0.780797  0.557196  0.282643 0.0290478
 0.549528 -0.397209 -0.735013 -0.125426
-0.297278  0.729217 -0.616335  0.846884
        0         0         0         1
