2
  0.968856 -0.0400469   0.244364   0.139598
 -0.152669   0.680359   0.716801  0.0931413
 -0.194961  -0.731784   0.653056   0.670538
         0          0          0          1
  0.842488   0.476027   0.252216  0.0185844
 -0.494595    0.49792   0.712356 -0.0543428
  0.213517  -0.724896   0.654932   0.907836
         0          0          0          1
