2
  0.473104  -0.862912  -0.177639 -0.0621627
   0.75231   0.290766   0.591173   0.141847
 -0.458478  -0.413326    0.78674   0.721124
         0          0          0          1
  0.856398  -0.492982  -0.153466    0.11796
   0.47774   0.643867   0.597662 -0.0374589
 -0.195825  -0.585153   0.786924   0.886979
         0          0          0          1
