2
  0.998844  0.0400662 -0.0265523  0.0470716
-0.0112094   0.731355   0.681906   0.135178
 0.0467405   -0.68082   0.730958   0.763878
         0          0          0          1
   0.837355    0.546577 -0.00945105  -0.0924051
  -0.407051    0.634955    0.656614  -0.0689526
   0.364891   -0.545972    0.754167    0.940787
          0           0           0           1
