2
  0.347949   0.937354  0.0173146   0.118623
 -0.744271   0.264952   0.613076 -0.0330558
  0.570081  -0.226206   0.789835   0.809894
         0          0          0          1
 -0.220183   0.974534 -0.0424653  -0.186656
 -0.789032  -0.152337   0.595165 -0.0146011
  0.573539   0.164552   0.802481   0.784661
         0          0          0          1
