2
 0.931611 -0.135242  0.337359 0.0927309
0.0432124 -0.880396 -0.472267 0.0558823
  0.36088  0.454547 -0.814342  0.713669
        0         0         0         1
  0.724871  -0.591783    0.35264 -0.0648093
 -0.437435   -0.79086  -0.428009  -0.191295
  0.532178   0.155994  -0.832138   0.779798
         0          0          0          1
