2
   0.169448    0.969069    0.179424    0.122056
  -0.703772 -0.00846741    0.710376   0.0859144
   0.689922   -0.246646    0.680569     0.82325
          0           0           0           1
  -0.3882  0.912542  0.128715 -0.165503
-0.603717  -0.35734  0.712625  0.174241
 0.696295  0.198934  0.689637  0.785423
        0         0         0         1
