2
  0.978827  -0.201008 -0.0386484  0.0204609
 -0.186546  -0.798297  -0.572645  0.0809591
 0.0842533    0.56773  -0.818892   0.744297
         0          0          0          1
  0.734644  -0.677783 -0.0301257  -0.160245
 -0.582096  -0.606875  -0.541172  -0.115856
  0.348515   0.415105  -0.840372    0.88309
         0          0          0          1
