2
   0.85177    0.42311   0.308974  -0.156518
  0.519793  -0.608635  -0.599483 -0.0650209
-0.0655952   0.671224  -0.738347   0.780937
         0          0          0          1
 0.953907 -0.102673  0.281994 -0.145856
0.0873558 -0.803967 -0.588223 -0.294651
 0.287108  0.585744  -0.75794  0.963232
        0         0         0         1
