2
  0.875913   0.413551   0.248498  -0.114043
  0.453531  -0.530069  -0.716476 0.00608447
 -0.164578   0.740272  -0.651852   0.679028
         0          0          0          1
 0.964671 -0.132154  0.227915 -0.112604
0.0683634 -0.709897  -0.70098 -0.198239
 0.254433  0.691796 -0.675783   0.89855
        0         0         0         1
