2
  0.893141  -0.449755 0.00444366   0.184227
 -0.343663  -0.688767  -0.638355 -0.0219369
  0.290164   0.568614   -0.76973    0.82975
         0          0          0          1
  0.519456  -0.854315  0.0176589 -0.0573637
 -0.676241  -0.423638  -0.602685  -0.167241
  0.522363   0.301127  -0.797784   0.938547
         0          0          0          1
