2
  0.962316 0.00612575   0.271866  0.0730776
  0.173063   -0.78495  -0.594898   0.111021
  0.209757   0.619529   -0.75643    0.75731
         0          0          0          1
  0.818748  -0.511208   0.261375 -0.0550508
 -0.297863  -0.767374  -0.567817  -0.130443
  0.490845   0.387045  -0.780556   0.890105
         0          0          0          1
