2
  0.976163   0.113192  -0.185185   0.153578
-0.0430885   -0.73518  -0.676502  0.0247002
 -0.212719   0.668355  -0.712778   0.602787
         0          0          0          1
 0.900519 -0.393701 -0.184566 0.0621476
-0.408305 -0.619705 -0.670263 -0.164176
 0.149507  0.678944 -0.718806  0.824317
        0         0         0         1
