2
  0.312092   0.948268 -0.0581968  0.0752411
 -0.685022   0.267051   0.677811  -0.104462
  0.658288  -0.171673   0.732929   0.894316
         0          0          0          1
 -0.167116   0.983014 -0.0758656   -0.22365
 -0.763146 -0.0802506   0.641223 -0.0844693
  0.624243   0.165056   0.763595   0.855304
         0          0          0          1
