2
 0.238232 -0.945079 -0.223765 -0.129036
 0.829928 0.0784311   0.55233 0.0436614
-0.504445 -0.317291  0.803033  0.713706
        0         0         0         1
  0.694929  -0.693896  -0.188634    0.10877
  0.657436   0.506838   0.557578 -0.0860569
 -0.291294  -0.511492   0.808408   0.858401
         0          0          0          1
