2
  0.140858  -0.978399  -0.151306 -0.0658567
  0.875413  0.0517077   0.480603   0.118238
 -0.462398  -0.200152   0.863787   0.741301
         0          0          0          1
  0.642164  -0.755736  -0.128405   0.188537
  0.707384   0.519675   0.479109 -0.0128523
 -0.295351  -0.398499   0.868312   0.847849
         0          0          0          1
