2
  0.979625  -0.198526 -0.0303766   0.111252
  0.168801   0.731938   0.660131  0.0993113
 -0.108819  -0.651809   0.750536   0.665893
         0          0          0          1
  0.954039   0.295702 -0.0486937  0.0339305
 -0.193425    0.73169   0.653619  -0.114966
  0.228905  -0.614159   0.755257   0.868859
         0          0          0          1
