2
  0.836071  -0.537991   0.107475 0.00947603
 -0.390316  -0.720963  -0.572596 -0.0375822
  0.385537   0.436781  -0.812763    0.74754
         0          0          0          1
 0.435293 -0.889713  0.137589 -0.244459
-0.717038 -0.435033 -0.544613 -0.185392
 0.544405  0.138409 -0.827325  0.801352
        0         0         0         1
