2
  0.842428   -0.53866  0.0126456 0.00372342
  0.441747   0.703921   0.556198   0.109366
 -0.308503   -0.46297   0.830954    0.79869
         0          0          0          1
  0.999363 0.00753895  0.0348854  0.0465271
-0.0256277   0.831865   0.554386  -0.141924
-0.0248404  -0.554926   0.831528   0.959029
         0          0          0          1
