2
  0.172596    0.97766  -0.119965   0.134959
 -0.725082   0.208541   0.656328 -0.0715365
  0.666684  -0.026295   0.744877   0.825726
         0          0          0          1
 -0.381451   0.908015  -0.173219  -0.156183
 -0.745617  -0.191467   0.638275 -0.0474279
  0.546397   0.372626   0.750067   0.733356
         0          0          0          1
