2
  0.525144   0.850887  0.0146771   0.115271
 -0.571234   0.339661   0.747209 -0.0799915
  0.630805  -0.400777   0.664426   0.941777
         0          0          0          1
  0.122158   0.992509 0.00175739  -0.185642
  -0.63236  0.0764661   0.770891 -0.0841707
  0.764982 -0.0952821   0.636964   0.927106
         0          0          0          1
