2
   0.395567    0.872547    0.286685   -0.168733
    0.68996  -0.0762884   -0.719816 -0.00708385
  -0.606203    0.482537     -0.6322    0.652654
          0           0           0           1
 0.797318  0.550206  0.248109 0.0257993
 0.529784  -0.44105 -0.724433 -0.121471
-0.289159  0.709047 -0.643148  0.860953
        0         0         0         1
