2
   0.984961   0.0946172   -0.144565   0.0170547
 -0.0121115    0.872473    0.488512 -0.00569504
    0.17235   -0.479414    0.860498    0.728258
          0           0           0           1
 0.787079  0.597019 -0.155162 -0.132218
-0.478335  0.749538   0.45759  -0.24407
 0.389489  -0.28594  0.875521  0.826038
        0         0         0         1
