2
  0.927813  -0.137755   0.346679 -0.0182684
 0.0676216  -0.851821   -0.51945  0.0591275
  0.366866   0.505395  -0.781015   0.778616
         0          0          0          1
 0.707604 -0.601896  0.370159 -0.177775
 -0.41727 -0.778694 -0.468531 -0.185481
 0.570247  0.177079  -0.80216  0.851279
        0         0         0         1
