2
  0.942776  -0.246337  -0.224702   0.167426
 -0.333421  -0.692732  -0.639495 -0.0249756
0.00187321    0.67782  -0.735226    0.60389
         0          0          0          1
  0.741206  -0.621459  -0.253777 0.00905966
 -0.620741  -0.490628  -0.611527  -0.160972
  0.255528   0.610797  -0.749421   0.831212
         0          0          0          1
