2
  0.130757   0.969982   0.205031   0.129151
 -0.712528 -0.0518535   0.699725  0.0902571
  0.689352  -0.237584   0.684359   0.818574
         0          0          0          1
 -0.42156  0.893238  0.156248 -0.160597
-0.585836 -0.399796  0.704953   0.19078
 0.692158  0.205645  0.691829  0.781115
        0         0         0         1
