2
   0.848321    0.400675    0.346137   0.0504241
   0.529466   -0.636751   -0.560549   0.0564768
-0.00419492    0.658793   -0.752312    0.597002
          0           0           0           1
  0.935099 -0.0541663   0.350224  0.0420452
  0.162856  -0.812041  -0.560418  -0.178773
  0.314751   0.581082  -0.750517   0.787354
         0          0          0          1
