2
  0.146802   0.986329 -0.0748565   0.126172
  -0.73636     0.1595   0.657521 -0.0808723
  0.660471  -0.041404   0.749709   0.822583
         0          0          0          1
   -0.4109   0.902203  -0.131117  -0.163819
 -0.726001  -0.236821    0.64563 -0.0416779
  0.551438    0.36048    0.75231   0.733812
         0          0          0          1
