2
  0.693546   0.699453   0.172508 -0.0514546
  0.646752  -0.499037  -0.576779  0.0540882
 -0.317342   0.511593  -0.798478   0.709255
         0          0          0          1
   0.964973    0.210278    0.156878   0.0491957
   0.262343   -0.768936    -0.58302   -0.170027
-0.00196761    0.603754   -0.797168    0.885875
          0           0           0           1
