2
   0.985829   0.0914273   -0.140651   0.0148223
 -0.0110036    0.871869    0.489616 -0.00203151
   0.167394   -0.481129     0.86052    0.726886
          0           0           0           1
 0.789002  0.594685 -0.154352 -0.134819
-0.477678   0.75176  0.454622 -0.241211
 0.386393 -0.284967  0.877208  0.825072
        0         0         0         1
