2
  0.787775  -0.603315    0.12418  0.0459614
 -0.429518  -0.682548  -0.591305 -0.0173592
  0.441502   0.412479  -0.796829   0.757939
         0          0          0          1
 0.413889   -0.9021  0.122114 -0.228708
-0.710669 -0.404023 -0.575947 -0.128532
 0.568899  0.151595 -0.808315  0.799844
        0         0         0         1
