2
  0.933874  -0.184952   0.306058 0.00657765
 0.0209862  -0.826043  -0.563216  0.0603435
  0.356985   0.532396  -0.767539   0.759513
         0          0          0          1
 0.699109 -0.633523  0.331504 -0.163071
-0.426644  -0.74166 -0.517606  -0.17148
 0.573779  0.220429  -0.78879  0.846664
        0         0         0         1
