2
  0.515195   0.850225  -0.108131  0.0776977
 -0.684677   0.484168   0.544793 -0.0960541
   0.51555   -0.20664    0.83157   0.819814
         0          0          0          1
 -0.02873  0.986717 -0.159887 -0.220953
-0.854308 0.0588077   0.51643 -0.144212
 0.518973   0.15143  0.841271  0.793079
        0         0         0         1
