2
  0.938224   0.296362  -0.178621 0.00854605
 -0.156131    0.82324   0.545801  0.0370312
  0.308802  -0.484195   0.818655   0.798449
         0          0          0          1
 0.642036  0.739938 -0.200701 -0.192942
-0.580816  0.640307  0.502653 -0.170624
 0.500442 -0.206151  0.840868  0.879526
        0         0         0         1
