2
  0.979371   0.181892 -0.0880268    0.12257
  -0.10561   0.832125    0.54444    0.10496
  0.172279  -0.523912   0.834168   0.736915
         0          0          0          1
  0.740575    0.66635 -0.0867568 -0.0571389
 -0.538296   0.665566   0.516972  -0.112716
  0.402226  -0.336156   0.851595   0.850818
         0          0          0          1
