2
  0.971097   0.233977 -0.0471774  0.0144587
 -0.152956   0.761763   0.629541    0.10778
  0.183236  -0.604129   0.775533    0.74381
         0          0          0          1
  0.711305   0.700282 -0.0604159  -0.173069
 -0.539793   0.599292   0.591161 -0.0871792
  0.450186  -0.387884   0.804287   0.878754
         0          0          0          1
