2
-0.103617 -0.948156  0.300438 0.0341579
 0.855883 0.0688801  0.512562 0.0750881
-0.506683   0.31025  0.804373  0.858007
        0         0         0         1
  0.390161  -0.853322   0.345856   0.309053
   0.67702   0.520455   0.520357 -0.0573874
 -0.624034  0.0311286   0.780777   0.823834
         0          0          0          1
