2
   0.969007   -0.206212   -0.136023     0.30659
   0.247034    0.809194    0.533085  -0.0350869
0.000140653   -0.550165    0.835056    0.730531
          0           0           0           1
 0.930336  0.336966 -0.144668  0.204911
 -0.20353  0.802638  0.560668 -0.262612
 0.305042 -0.492165  0.815306  0.887656
        0         0         0         1
