2
  0.914759  0.0290925    0.40295 -0.0135809
  0.281235  -0.761909  -0.583439  0.0710566
  0.290037    0.64703  -0.705146   0.661939
         0          0          0          1
 0.804847 -0.436698  0.401891 -0.121063
-0.172779 -0.820255 -0.545279 -0.178406
 0.567775  0.369427 -0.735632  0.792306
        0         0         0         1
