2
    0.933069     0.353258   -0.0677526 -0.000650063
   -0.278139     0.828028     0.486834    0.0518155
    0.228079    -0.435406     0.870863     0.828514
           0            0            0            1
 0.603971   0.79085 -0.098873 -0.218175
-0.683761  0.577891  0.445549 -0.140722
   0.4095 -0.201494  0.889781  0.904099
        0         0         0         1
