2
 0.821112  0.413812   0.39311  0.049567
 0.569898 -0.632407 -0.524669 0.0563182
0.0314905  0.654845 -0.755107   0.59879
        0         0         0         1
  0.912948 -0.0301006   0.406964  0.0599512
  0.199199  -0.837515  -0.508811  -0.183733
  0.356154   0.545585  -0.758611   0.783571
         0          0          0          1
