2
  0.613466   0.772823  -0.162496  0.0523467
 -0.493924   0.536028   0.684626 -0.0929818
  0.616197  -0.339735   0.710551   0.896241
         0          0          0          1
0.0502329  0.978718 -0.198968 -0.243952
-0.646096  0.183763  0.740804 -0.154164
 0.761601 0.0913397  0.641577   0.85964
        0         0         0         1
