2
   0.868272    0.493601   0.0496147    0.107181
  -0.470058    0.786619    0.400346 -0.00995463
   0.158583   -0.370931     0.91502    0.832032
          0           0           0           1
  0.47472  0.879832 0.0231757 -0.143421
-0.827109  0.436962   0.35349 -0.167676
 0.300885 -0.186978  0.935151  0.901357
        0         0         0         1
