2
  0.198683   0.978618 -0.0532138 -0.0823299
 -0.832268   0.197145   0.518134   -0.18406
  0.517546 -0.0586565   0.853642   0.798363
         0          0          0          1
-0.333625  0.932264 -0.139925 -0.374941
-0.824515 -0.216607   0.52274 -0.139609
 0.457022  0.289769  0.840931  0.734676
        0         0         0         1
