2
  0.693546  -0.699453  -0.172508 -0.0664145
  0.646752   0.499037   0.576779  0.0922014
 -0.317342  -0.511593   0.798478    0.75754
         0          0          0          1
   0.964973   -0.210278   -0.156878   0.0372755
   0.262343    0.768936     0.58302   -0.129824
-0.00196761   -0.603754    0.797168    0.933305
          0           0           0           1
