2
  0.842428    0.53866 -0.0126456 0.00638482
  0.441747  -0.703921  -0.556198  0.0713562
 -0.308503    0.46297  -0.830954   0.748133
         0          0          0          1
   0.999363 -0.00753895  -0.0348854   0.0453367
 -0.0256277   -0.831865   -0.554386   -0.180922
 -0.0248404    0.554926   -0.831528    0.909175
          0           0           0           1
