2
  0.790055  -0.593744    0.15258   0.213345
  -0.44423  -0.726008   -0.52495 -0.0521338
   0.42246   0.346959  -0.837346   0.718368
         0          0          0          1
  0.352739  -0.917364    0.18444 -0.0520046
 -0.777864  -0.397038  -0.487123  -0.197134
  0.520098  0.0283586  -0.853635   0.744104
         0          0          0          1
