2
   0.899117    0.267232   -0.346665    0.173608
-0.00766243    0.801487    0.597964    0.140507
   0.437642   -0.534983    0.722678    0.780796
          0           0           0           1
  0.628218   0.693199  -0.353294 -0.0147678
  -0.43589   0.689708   0.578189 -0.0833133
   0.64447  -0.209232   0.735446   0.864194
         0          0          0          1
