2
  0.961256  -0.195706  -0.194129 -0.0841678
  0.275631   0.692029   0.667176  0.0900089
0.00377288  -0.694835   0.719159    0.79712
         0          0          0          1
 0.919666  0.345448 -0.186764 -0.149702
-0.156799  0.759051  0.631867 -0.139091
 0.360041 -0.551822  0.752239  0.978676
        0         0         0         1
