2
  0.942776   0.246337   0.224702   0.186853
 -0.333421   0.692732   0.639495  0.0307165
0.00187321   -0.67782   0.735226   0.668374
         0          0          0          1
 0.741206  0.621459  0.253777 0.0309245
-0.620741  0.490628  0.611527 -0.107618
 0.255528 -0.610797  0.749421  0.896877
        0         0         0         1
