2
  0.828145  -0.504113   0.245043  0.0446123
 -0.328768  -0.790943  -0.516063 -0.0267198
  0.453969   0.346813  -0.820752   0.908762
         0          0          0          1
  0.449516  -0.843067   0.295252  -0.198789
 -0.700335  -0.537792  -0.469374  -0.198243
  0.554497 0.00421606  -0.832175   0.925946
         0          0          0          1
