2
  0.988992 -0.0900153   0.117437    0.19333
0.00202006    0.80181   0.597576   0.108697
 -0.147953  -0.590761   0.793166   0.723239
         0          0          0          1
 0.892929  0.433215  0.122487 0.0938932
-0.416779  0.692593  0.588736 -0.107176
 0.170215 -0.576749  0.798991  0.913224
        0         0         0         1
