2
   0.848321   -0.400675   -0.346137   0.0202015
   0.529466    0.636751    0.560549    0.105173
-0.00419492   -0.658793    0.752312     0.66297
          0           0           0           1
 0.935099 0.0541663 -0.350224 0.0112963
 0.162856  0.812041  0.560418   -0.1301
 0.314751 -0.581082  0.750517  0.853099
        0         0         0         1
