2
  0.890826    0.23681    0.38775   0.201874
 -0.431515   0.708103   0.558914 0.00670299
  -0.14221  -0.665215   0.732984   0.695166
         0          0          0          1
 0.834516  0.474175  0.280609 0.0168194
-0.536702  0.584362  0.608665 -0.126019
 0.124637 -0.658544   0.74215  0.905111
        0         0         0         1
