2
  0.130725   0.971647  -0.197011  0.0205311
 -0.640394   0.234454   0.731387 -0.0123881
   0.75684  0.0305542   0.652885   0.769088
         0          0          0          1
  -0.407576    0.879999   -0.243894   -0.262575
  -0.690651   -0.122334    0.712766 -0.00360051
   0.597397    0.458952    0.657633    0.648259
          0           0           0           1
