2
   0.982867   -0.114444    0.144478   0.0386982
-0.00827677   -0.810488   -0.585696   0.0768162
   0.184127    0.574466    -0.79755    0.709901
          0           0           0           1
 0.783612 -0.604253  0.144326 -0.120533
-0.444607  -0.70772 -0.549051 -0.145445
 0.433908  0.366075 -0.823233  0.834228
        0         0         0         1
