2
  0.967666   0.250376 -0.0305643 -0.0425666
 -0.183325   0.781348   0.596563   0.116747
  0.173247  -0.571671   0.801984   0.768698
         0          0          0          1
  0.689462    0.72187 -0.0595423  -0.235121
 -0.578911    0.59859   0.553672 -0.0796212
  0.435321  -0.347266   0.830604   0.891148
         0          0          0          1
