2
   0.974963  -0.0131691   -0.221977   0.0648671
  -0.181652   -0.622931   -0.760894 -0.00490313
  -0.128256    0.782167   -0.609726    0.592893
          0           0           0           1
  0.822861  -0.524836  -0.217824 -0.0666257
 -0.489937  -0.461088  -0.739838  -0.144294
  0.287857   0.715504  -0.636548   0.830411
         0          0          0          1
