2
 0.820225 -0.566663 0.0782537  0.146398
 0.343967  0.597867  0.724045  0.148341
-0.457075 -0.566963  0.685299  0.697858
        0         0         0         1
   0.978286   -0.207225 -0.00380632     0.16461
   0.147965    0.685429    0.712947  -0.0518893
  -0.145132    -0.69803    0.701207    0.925839
          0           0           0           1
