2
  0.397929   0.916965  0.0287722    0.11263
 -0.739375   0.301979   0.601775 -0.0694174
  0.543118  -0.260737   0.798148   0.787393
         0          0          0          1
 -0.154155   0.987526 -0.0320798  -0.192044
 -0.811171  -0.107955   0.574759 -0.0647491
  0.564126   0.114624   0.817694   0.776379
         0          0          0          1
