2
 0.623789 -0.768096 -0.144621  0.117878
 -0.61945 -0.373011 -0.690757 -0.057087
 0.476622  0.520472 -0.708477  0.772377
        0         0         0         1
  0.545745  -0.835185 -0.0680323  -0.178546
 -0.575865  -0.314835  -0.754492 -0.0637331
  0.608722   0.450938  -0.652773   0.842813
         0          0          0          1
