2
  0.797013  -0.603749  0.0160229 -0.0505573
  0.478469   0.647375   0.593273  0.0778925
 -0.368561   -0.46518   0.804842    0.81695
         0          0          0          1
  0.997415 -0.0694355  0.0184974  0.0146028
 0.0455062   0.809585   0.585237  -0.161209
-0.0556114  -0.582882   0.810652   0.986848
         0          0          0          1
