2
  0.823733   0.565965 -0.0338863  0.0911882
  0.349181  -0.553486  -0.756126  0.0376532
 -0.446696   0.611013  -0.653549   0.575441
         0          0          0          1
  0.972911   0.231142 0.00410686   0.111759
  0.153993  -0.634723   -0.75724  -0.146658
 -0.172424    0.73736  -0.653123   0.816776
         0          0          0          1
