2
  0.958987   0.224176  -0.173461 -0.0279522
 -0.110549   0.859308   0.499369 -0.0177699
  0.261003  -0.459713   0.848847   0.745266
         0          0          0          1
 0.688199  0.699463 -0.192701 -0.209392
-0.561359  0.681618  0.469332 -0.239074
 0.459629 -0.214819  0.861739  0.823619
        0         0         0         1
