2
  0.836975   -0.53227   0.127128   0.167231
 -0.455959  -0.806746  -0.375849 -0.0258593
  0.302613   0.256611  -0.917919   0.733611
         0          0          0          1
  0.421492  -0.893298   0.156086 -0.0892293
 -0.828707  -0.449322  -0.333698  -0.183119
  0.368224  0.0113012  -0.929668   0.751537
         0          0          0          1
