2
  0.717018   0.696688 -0.0225963   0.153759
 -0.517448   0.553709   0.652421  -0.141457
  0.467046  -0.456106   0.757519   0.915085
         0          0          0          1
   0.14224   0.986771 -0.0777825  -0.145558
 -0.704205   0.156106   0.692623  -0.196027
  0.695603 -0.0437443   0.717094    0.93058
         0          0          0          1
