2
  0.413661   0.861045   0.295781  -0.162348
  0.687578 -0.0825117  -0.721408  0.0090237
 -0.596759   0.501791  -0.626167   0.654548
         0          0          0          1
  0.80298  0.536385  0.259837 0.0291389
 0.529209 -0.441124 -0.724809 -0.105007
-0.274156  0.719515 -0.638073  0.866999
        0         0         0         1
