2
  0.112923   0.967343   0.226929   0.127652
 -0.711071 -0.0808445   0.698457  0.0953467
  0.693993  -0.240235    0.67872    0.81654
         0          0          0          1
-0.431328  0.884686   0.17688 -0.158535
-0.573927 -0.420332  0.702801  0.204543
 0.696107  0.201621  0.689046  0.777446
        0         0         0         1
