2
   0.978624   -0.110705   -0.173321   0.0381539
   0.195887    0.758455     0.62159 -0.00313416
  0.0626434   -0.642254    0.763928     0.79027
          0           0           0           1
 0.891976  0.420495 -0.166017  -0.05333
-0.262142  0.780268  0.567859 -0.237676
  0.36832 -0.462997   0.80621  0.949272
        0         0         0         1
