2
  0.892129   0.118776   0.435888 -0.0181876
  0.320746  -0.845988  -0.425943   0.161048
  0.318164   0.519805  -0.792827   0.843218
         0          0          0          1
 0.827375 -0.366835  0.425304 -0.102967
-0.205068 -0.902266 -0.379292  -0.11625
 0.522875    0.2266 -0.821738  0.930664
        0         0         0         1
