2
  0.983009 -0.0898953   0.160036    0.13824
-0.0661823   0.639641    0.76582   0.070913
 -0.171209    -0.7634   0.622823   0.612774
         0          0          0          1
  0.859281   0.489498   0.148418   0.034929
 -0.416389   0.500881   0.758775 -0.0915627
  0.297079    -0.7138   0.634219   0.853767
         0          0          0          1
