2
    0.76431     0.64483 -0.00505653   0.0882616
  -0.526307    0.628319    0.572902  0.00446823
   0.372601   -0.435213    0.819609    0.812176
          0           0           0           1
  0.298522   0.954182 -0.0205016  -0.195206
 -0.787567   0.258415   0.559427 -0.0828189
  0.539094  -0.150855   0.828626   0.874388
         0          0          0          1
