2
   0.952617   -0.304138 -0.00458637    0.147158
   0.221241    0.682462    0.696633     0.17554
  -0.208742    -0.66464    0.717413    0.710408
          0           0           0           1
  0.996945  0.0359876 -0.0693181  0.0837596
 0.0227375   0.715348   0.698399 -0.0253846
 0.0747203  -0.697841   0.712344   0.929264
         0          0          0          1
