2
  0.330796    0.94343  0.0226435   0.178734
 -0.718422   0.236198   0.654279 -0.0242721
  0.611918  -0.232701   0.755915    0.78601
         0          0          0          1
  -0.207911    0.977846  -0.0243128   -0.126554
  -0.755011   -0.144629    0.639563 -0.00572512
   0.621877    0.151328    0.768355    0.761957
          0           0           0           1
