2
  0.572319  -0.818748 -0.0458661   0.127326
 -0.586106  -0.369298  -0.721178   -0.18086
  0.573525   0.439626  -0.691229   0.855635
         0          0          0          1
   0.12759   -0.99172 -0.0145821  -0.171816
 -0.637474 -0.0707338  -0.767218  -0.194854
  0.759834   0.107185  -0.641221   0.858968
         0          0          0          1
