2
  0.971331  -0.146501   0.187224  0.0121535
-0.0232191  -0.842249  -0.538589 0.00692345
  0.236593   0.518801  -0.821504   0.709059
         0          0          0          1
 0.761055 -0.615766  0.204029  -0.15041
-0.459912 -0.734005 -0.499717 -0.220322
 0.457467  0.286477 -0.841817  0.808904
        0         0         0         1
