2
  0.961256   0.195706   0.194129 -0.0699718
  0.275631  -0.692029  -0.667176  0.0448784
0.00377288   0.694835  -0.719159   0.755055
         0          0          0          1
 0.919666 -0.345448  0.186764 -0.138602
-0.156799 -0.759051 -0.631867 -0.182767
 0.360041  0.551822 -0.752239  0.934212
        0         0         0         1
