2
  0.796102  -0.602154 -0.0602611 -0.0950966
  0.511664   0.616585    0.59835  0.0726036
 -0.323143  -0.507181   0.798966    0.80396
         0          0          0          1
   0.994253  -0.0901082  -0.0578083  -0.0317858
   0.106865     0.80297    0.586361   -0.162322
-0.00641758   -0.589169    0.807984     0.97804
          0           0           0           1
