2
  0.177777   0.953956  -0.241585 -0.0374982
 -0.810934    0.28109   0.513201    -0.1723
  0.557478   0.104674   0.823566    0.89756
         0          0          0          1
-0.351826  0.890692 -0.287899 -0.317295
-0.849866 -0.175026  0.497085 -0.153034
  0.39236  0.419563  0.818548  0.783881
        0         0         0         1
