2
  0.988992  0.0900153  -0.117437   0.183167
0.00202006   -0.80181  -0.597576   0.056751
 -0.147953   0.590761  -0.793166   0.653702
         0          0          0          1
 0.892929 -0.433215 -0.122487 0.0834567
-0.416779 -0.692593 -0.588736 -0.158442
 0.170215  0.576749 -0.798991  0.843228
        0         0         0         1
