2
    0.22621   -0.966339   -0.122554  -0.0871719
   0.885493    0.151581    0.439233 -0.00479397
  -0.405871   -0.207879    0.889975    0.721604
          0           0           0           1
  0.702124   -0.70559 -0.0957299   0.148669
   0.66927   0.608045   0.427035  -0.167139
 -0.243104  -0.363901   0.899153   0.825069
         0          0          0          1
