2
   0.931184    -0.16802    0.323521 -0.00552817
  0.0400599   -0.834917   -0.548917   0.0601527
   0.362343    0.524103    -0.77073    0.763686
          0           0           0           1
 0.705858 -0.616041  0.349654 -0.170866
-0.418015 -0.760761 -0.496494 -0.175571
 0.571864  0.204293 -0.794504  0.845663
        0         0         0         1
