2
  0.967426  -0.253152 0.00106587   0.132504
  0.183025   0.702331   0.687919   0.162704
 -0.174897  -0.665316   0.725787    0.71829
         0          0          0          1
  0.948386   0.315885 -0.0279543  0.0710789
 -0.211138   0.694747   0.687567 -0.0492713
  0.236613  -0.646176   0.725583   0.926678
         0          0          0          1
