2
  0.785237  -0.335525   -0.52041   0.220919
  -0.61805  -0.475808  -0.625796 -0.0561868
-0.0376451   0.813037  -0.580993   0.607166
         0          0          0          1
 0.555538 -0.667384  -0.49596 0.0351545
-0.761546 -0.168932 -0.625707 -0.109095
 0.333804    0.7253 -0.602092  0.850215
        0         0         0         1
