2
  0.964693 -0.0710369   0.253618   0.152521
 -0.115226   0.752067   0.648937   0.146953
 -0.236836  -0.655248   0.717328    0.65526
         0          0          0          1
  0.976775   0.168768   0.132014  0.0484205
 -0.213299   0.707392    0.67387 -0.0435986
 0.0203424  -0.686378   0.726961   0.875781
         0          0          0          1
