2
  0.971903   0.231381 -0.0432092 0.00959588
 -0.161219   0.788125   0.594027  0.0889632
  0.171501   -0.57037   0.803284   0.752896
         0          0          0          1
  0.702826   0.709319 -0.0538742  -0.178624
 -0.569547   0.606473   0.554804  -0.112144
  0.426206  -0.359247   0.830235    0.87969
         0          0          0          1
