2
  0.821161   0.565437 -0.0773053  0.0899068
  0.348558  -0.604166  -0.716583  0.0935628
 -0.451887   0.561485  -0.693205   0.619946
         0          0          0          1
 0.965233 -0.216709 -0.146158  0.131914
 -0.25498 -0.657533 -0.708968 -0.105184
0.0575362  0.721587 -0.689929  0.847135
        0         0         0         1
