2
  0.868272  -0.493601 -0.0496147     0.1026
 -0.470058  -0.786619  -0.400346 -0.0394781
  0.158583   0.370931   -0.91502   0.776218
         0          0          0          1
   0.47472  -0.879832 -0.0231756  -0.148592
 -0.827109  -0.436962   -0.35349  -0.192943
  0.300885   0.186978  -0.935151   0.843542
         0          0          0          1
