2
  0.982186  -0.126031   0.139383   0.165636
0.00706404   0.765981   0.642825  0.0480806
  -0.18778  -0.630389   0.753225   0.670448
         0          0          0          1
 0.926192  0.354749  0.127755 0.0630661
-0.351272  0.688693  0.634279 -0.148933
 0.137026 -0.632341  0.762476  0.879008
        0         0         0         1
