2
  0.278767   0.949112  -0.146547   0.153677
  -0.65292    0.29921   0.695823  0.0218485
  0.704262 -0.0982886   0.703104   0.749171
         0          0          0          1
 -0.262743     0.9457  -0.191357  -0.145877
 -0.728519 -0.0644072   0.681991  0.0123029
  0.632634   0.318596   0.705883   0.676147
         0          0          0          1
