2
   0.931625   0.0586254    -0.35866 -0.00193313
  0.0766127    0.933042    0.351515   0.0983723
   0.355252   -0.354959    0.864755    0.896546
          0           0           0           1
  0.757007   0.538778  -0.369673  -0.139775
 -0.449852   0.840074   0.303166  -0.167988
  0.473891 -0.0632009   0.878313   0.932288
         0          0          0          1
