2
  0.423138   0.897364  -0.125272    0.22576
 -0.656591   0.398962   0.640093 -0.0296395
  0.624375  -0.188595   0.758016   0.757564
         0          0          0          1
 -0.109186   0.980301  -0.164582 -0.0759129
  -0.78304  0.0171672   0.621734 -0.0679061
  0.612312   0.196759   0.765741    0.71654
         0          0          0          1
