2
  0.424622   0.889149  -0.170616  0.0290911
 -0.736296   0.448799   0.506407   -0.12648
  0.526843 -0.0894077   0.845247   0.791092
         0          0          0          1
   -0.115925     0.971077    -0.208737    -0.268667
   -0.874444 -0.000109699     0.485126    -0.158547
    0.471072     0.238767     0.849165     0.732995
           0            0            0            1
