2
   0.877524    0.474345   0.0703491   0.0792379
  -0.460273    0.792006    0.401094 0.000668913
    0.13454   -0.384349    0.913332    0.819546
          0           0           0           1
 0.498121  0.866147 0.0408156 -0.168754
-0.814862  0.451496  0.363526 -0.157587
 0.296439 -0.214339  0.930689  0.894567
        0         0         0         1
