2
  0.978624   0.110705   0.173321  0.0506483
  0.195887  -0.758455   -0.62159 -0.0457895
 0.0626434   0.642254  -0.763928   0.745189
         0          0          0          1
  0.891976  -0.420495   0.166017 -0.0439273
 -0.262142  -0.780268  -0.567859  -0.277524
   0.36832   0.462997   -0.80621   0.900986
         0          0          0          1
