2
  0.979218  -0.179437  0.0945273   0.116718
-0.0995808  -0.831411  -0.546661  0.0646099
  0.176682   0.525887  -0.832001    0.69326
         0          0          0          1
  0.739576   -0.66647   0.094042 -0.0648358
 -0.534456  -0.666432  -0.519833   -0.15136
  0.409126   0.334195  -0.849076   0.805097
         0          0          0          1
