2
  0.984456   -0.17216 -0.0347611  0.0692916
 -0.145431  -0.688073  -0.710919  0.0417231
 0.0984736   0.704924  -0.702414   0.619592
         0          0          0          1
  0.743948  -0.667621 -0.0287036  -0.112196
 -0.509486  -0.538892  -0.670835  -0.130615
  0.432395    0.51369  -0.741051    0.79271
         0          0          0          1
