2
  0.945461   0.130397   0.298496 0.00955697
  0.302823   -0.68947  -0.657974  0.0444686
  0.120007    0.71248  -0.691355   0.753207
         0          0          0          1
   0.88192  -0.376322     0.2839 -0.0757602
 -0.127974  -0.770763  -0.624138  -0.184965
  0.453696   0.514107   -0.72791   0.925801
         0          0          0          1
