2
  0.988319  -0.136002 -0.0687642 -0.0356335
  0.147852   0.746307   0.648974   0.101168
-0.0369425   -0.65156   0.757697   0.759118
         0          0          0          1
  0.908852   0.410849 -0.0720552  -0.124852
 -0.284565   0.737013   0.613053  -0.127489
  0.304978   -0.53667   0.786749     0.9338
         0          0          0          1
