2
   0.893141    0.449755 -0.00444362    0.185161
  -0.343663    0.688767    0.638355   0.0220083
   0.290164   -0.568614     0.76973    0.875312
          0           0           0           1
  0.519456   0.854315 -0.0176588 -0.0549389
 -0.676241   0.423638   0.602685  -0.126466
  0.522363  -0.301127   0.797784   0.986914
         0          0          0          1
