2
   0.345338    0.909211    0.232543   -0.139529
   0.798336   -0.154346   -0.582097 -0.00346581
  -0.493357    0.386668   -0.779158     0.64994
          0           0           0           1
 0.780214  0.593841  0.196517 0.0704642
 0.578473 -0.565479  -0.58788 -0.153915
-0.237981  0.572352 -0.784716  0.814472
        0         0         0         1
