2
 0.0714378   0.981571   0.177245 -0.0981257
  0.881594  0.0209856  -0.471541    -0.0582
 -0.466571   0.189944  -0.863848   0.673265
         0          0          0          1
 0.580823  0.802604  0.135912  0.165228
 0.749713 -0.462377 -0.473433 -0.169462
-0.317137  0.376875 -0.870281  0.778361
        0         0         0         1
