2
   0.389977     0.92082 -0.00310747   0.0868177
  -0.735648    0.313581    0.600408  -0.0504357
   0.553842   -0.231859    0.799688    0.828381
          0           0           0           1
 -0.171788   0.982954 -0.0655063  -0.219606
  -0.81311  -0.103935   0.572757 -0.0483424
  0.556185   0.151657   0.817104   0.805534
         0          0          0          1
