2
 0.983215 -0.040066  0.177995 0.0865389
-0.110957  0.643131  0.757675 0.0581251
-0.144831 -0.764708   0.62789  0.647489
        0         0         0         1
  0.877801     0.4498   0.164759 -0.0416556
 -0.406312   0.516952    0.75344 -0.0836577
  0.253724  -0.728314    0.63654   0.885528
         0          0          0          1
