2
  0.358063   0.933648 0.00966363   0.112954
  -0.74139   0.278008    0.61078 -0.0389943
  0.567567  -0.225862   0.791741   0.817716
         0          0          0          1
  -0.21457   0.975581 -0.0469116  -0.192154
 -0.795379  -0.146657   0.588102 -0.0250729
  0.566862   0.163502   0.807425   0.794186
         0          0          0          1
