2
  0.84583  0.391169  0.362711 0.0545944
 0.532862 -0.651556 -0.539939 0.0563861
0.0251197  0.649971 -0.759544  0.596739
        0         0         0         1
 0.920292 -0.076882  0.383603 0.0544251
 0.150771 -0.835073 -0.529076 -0.184539
 0.361013  0.544741  -0.75692  0.780036
        0         0         0         1
