2
   0.814615   -0.579928 -0.00925485     0.20009
   -0.41517   -0.571892   -0.707512   -0.151426
   0.405013    0.580193   -0.706641     0.79216
          0           0           0           1
  0.403853  -0.914251 -0.0323707 -0.0792092
 -0.661805  -0.267544  -0.700311  -0.210457
  0.631599   0.304246  -0.713104   0.889281
         0          0          0          1
