2
  0.968196   0.172784  -0.180949   0.128231
0.00200265  -0.728566  -0.684973  0.0441091
 -0.250185   0.662826  -0.705741   0.604067
         0          0          0          1
 0.898218 -0.390401 -0.201969 0.0431633
-0.417281 -0.612966 -0.670932  -0.14089
 0.138132  0.686921 -0.713484  0.830923
        0         0         0         1
