2
  0.94088 -0.145282  0.306003 0.0272576
0.0566389 -0.823168 -0.564967 0.0259815
 0.333971  0.548898 -0.766273  0.728978
        0         0         0         1
 0.725723 -0.608625  0.320783 -0.134269
-0.400238 -0.752732 -0.522689 -0.207249
 0.559585  0.250939  -0.78987  0.823445
        0         0         0         1
