2
  0.923478  -0.382952 -0.0231529   0.010147
  0.345103   0.802811   0.486208   0.100755
 -0.167607  -0.456993   0.873536   0.761473
         0          0          0          1
   0.984292    0.175848  -0.0157277 -0.00057735
  -0.146033    0.860983    0.487219   -0.162016
  0.0992179   -0.477269    0.873139    0.903477
          0           0           0           1
