2
   0.889472    0.302546    0.342499    0.191229
  -0.454419    0.664945     0.59275 -0.00382417
 -0.0484088   -0.682873    0.728932    0.677857
          0           0           0           1
 0.694286  0.626991   0.35334 0.0288558
-0.694253  0.454071  0.558419 -0.134508
 0.189682  -0.63301  0.750546  0.907062
        0         0         0         1
