2
   0.75571  -0.649226  0.0860667 -0.0399072
  0.471471   0.630536   0.616554   0.125988
 -0.454551  -0.425359   0.782594   0.855533
         0          0          0          1
 0.985419 -0.142115 0.0935549 0.0430951
0.0528579   0.77835  0.625601 -0.107717
-0.161726 -0.611534  0.774513    1.0259
        0         0         0         1
