2
  0.989402  0.0283687  -0.142401   0.113119
-0.0941546  -0.621237  -0.777946  0.0258398
 -0.110534    0.78311  -0.611982   0.570892
         0          0          0          1
   0.870968   -0.478698    -0.11074 -0.00477557
  -0.374139   -0.500054   -0.781003   -0.130268
   0.318489     0.72166   -0.614631    0.808563
          0           0           0           1
