2
   0.78075   -0.62484 0.00189232 -0.0528258
  0.502966   0.630256   0.591441   0.115901
 -0.370749  -0.460816   0.806346   0.854233
         0          0          0          1
  0.993712  -0.111056  0.0142676  0.0205041
 0.0816052   0.805586   0.586833  -0.122612
-0.0766648  -0.581978   0.809583    1.02192
         0          0          0          1
