2
  0.976163  -0.113192   0.185185   0.169671
-0.0430885    0.73518   0.676502  0.0835723
 -0.212719  -0.668355   0.712778   0.665333
         0          0          0          1
 0.900519  0.393701  0.184566 0.0780225
-0.408305  0.619705  0.670263 -0.105762
 0.149507 -0.678944  0.718806  0.887344
        0         0         0         1
