2
  0.950328   0.310033 -0.0275073   0.167886
 -0.231491    0.76311   0.603386   0.107527
  0.208061  -0.567047   0.796975    0.73368
         0          0          0          1
  0.655386    0.75471  -0.029711 -0.0406063
 -0.605342   0.548388   0.576916 -0.0784892
  0.451697  -0.360117   0.816263   0.856762
         0          0          0          1
