2
  0.902454  -0.286303    0.32188   0.195903
-0.0253096   -0.78114  -0.623842   0.102072
  0.430042   0.554842   -0.71219   0.744215
         0          0          0          1
    0.618583    -0.714442     0.326998 -0.000974112
   -0.451665    -0.663872    -0.596047    -0.112901
    0.642926      0.22101    -0.733349      0.82924
           0            0            0            1
