2
   0.982186    0.126031   -0.139383    0.153542
 0.00706404   -0.765981   -0.642825 -0.00783001
   -0.18778    0.630389   -0.753225    0.604384
          0           0           0           1
 0.926192 -0.354749 -0.127755 0.0521459
-0.351272 -0.688693 -0.634279 -0.204172
 0.137026  0.632341 -0.762476  0.812176
        0         0         0         1
