2
  0.593718   0.794748   0.125993   0.135481
  -0.61986   0.351873   0.701398 0.00483063
  0.513101   -0.49453   0.701546   0.835519
         0          0          0          1
  0.171625      0.982  0.0788773  -0.166787
 -0.632621  0.0484788   0.772943 -0.0156767
  0.755206  -0.182556   0.629553   0.882139
         0          0          0          1
