2
 0.856091 -0.515056 0.0427266 0.0160736
 0.418703  0.739648  0.526887 0.0993858
-0.302979 -0.433173  0.848861  0.794066
        0         0         0         1
  0.998196  0.0256278  0.0542957  0.0454929
 -0.050695   0.844284   0.533493  -0.156399
-0.0321687  -0.535283    0.84406   0.947545
         0          0          0          1
