2
  0.986135  -0.143473 -0.0833808  0.0580273
 -0.165032  -0.795366  -0.583231  0.0864056
 0.0173594   0.588905  -0.808016   0.751113
         0          0          0          1
  0.774353  -0.627727 -0.0796029  -0.114384
 -0.556692  -0.616055  -0.557289  -0.110304
  0.300785   0.475853  -0.826494   0.902935
         0          0          0          1
