2
  0.990177 -0.0927819   0.104596   0.205646
 0.0152683   0.815373   0.578734  0.0593937
 -0.138981  -0.571453   0.808781   0.728327
         0          0          0          1
 0.938289  0.339798 0.0644265  0.103644
 -0.31489  0.762298  0.565461 -0.163546
  0.14303 -0.550853  0.822255   0.91052
        0         0         0         1
