2
  0.829578  -0.555071  0.0607991  0.0957652
 -0.410091  -0.679532  -0.608328 -0.0449645
   0.37898   0.479722  -0.791354   0.807303
         0          0          0          1
 0.422383 -0.901961 0.0897701 -0.162278
 -0.72647 -0.396093 -0.561562 -0.182211
 0.542065  0.171979 -0.822551  0.879087
        0         0         0         1
