2
   0.245937    -0.96926 -0.00714468   -0.177895
   0.832779    0.207524    0.513238  -0.0449619
  -0.495978   -0.132174    0.858217    0.776752
          0           0           0           1
 0.716804  -0.69607 0.0409575 0.0637647
 0.582365  0.629947  0.513828 -0.210271
-0.383461 -0.344462  0.856915  0.866345
        0         0         0         1
