2
  0.983404   0.175085  0.0475634   0.127817
   0.16886  -0.787369  -0.592906   0.080518
-0.0663592   0.591097  -0.803866   0.632013
         0          0          0          1
 0.941982 -0.329788 0.0625217 0.0515877
-0.234961  -0.78086 -0.578835 -0.153827
 0.239714  0.530563 -0.813044    0.8101
        0         0         0         1
