2
  0.844444  -0.534655  0.0325392   0.133789
 -0.400412  -0.670434   -0.62465 -0.0353211
  0.355787   0.514453  -0.780227   0.797087
         0          0          0          1
 0.412416  -0.90893 0.0613131  -0.12365
-0.726979 -0.368925 -0.579134  -0.16762
 0.549012  0.194271 -0.812924  0.880992
        0         0         0         1
