2
  0.810769  -0.568108   0.141095   0.047011
 -0.393214  -0.707124  -0.587672 -0.0130693
  0.433633   0.420986  -0.796702   0.761011
         0          0          0          1
 0.493204 -0.856855  0.150168 -0.225519
-0.663632 -0.482212 -0.571895 -0.130284
 0.562444  0.182405 -0.806465  0.802251
        0         0         0         1
