2
  0.984847  -0.173409 0.00237217  0.0570392
  0.112565   0.649582   0.751913   0.112042
 -0.131929  -0.740252   0.659259   0.659632
         0          0          0          1
  0.888344   0.458031  0.0324404 -0.0335127
  -0.32763   0.582761   0.743672 -0.0653685
   0.32172  -0.671265   0.667757   0.889199
         0          0          0          1
