2
  0.939525  -0.277211   0.201115 0.00319465
-0.0405954   -0.67323  -0.738318  0.0808032
  0.340067   0.685504   -0.64377   0.714129
         0          0          0          1
 0.657862 -0.718064   0.22716 -0.191935
 -0.40498 -0.591574  -0.69716 -0.103887
 0.634987   0.36664 -0.679976  0.848987
        0         0         0         1
