2
   0.895165    -0.34096   -0.287098    0.116033
  -0.443246   -0.612959   -0.654076 -0.00230116
  0.0470344    0.712761   -0.699828    0.623172
          0           0           0           1
  0.573172  -0.767221   -0.28783 -0.0987265
 -0.723867  -0.309438  -0.616657  -0.114144
  0.384046   0.561801  -0.732727   0.808391
         0          0          0          1
