2
   0.965616   -0.259859 -0.00767681     0.15066
   0.198483    0.717833    0.667324    0.120531
  -0.167899   -0.645902    0.744729    0.675596
          0           0           0           1
  0.967621   0.251917 -0.0157307  0.0986227
 -0.179679   0.731241   0.658029 -0.0934685
  0.177272  -0.633896   0.752828   0.886016
         0          0          0          1
