2
  0.987435   0.139691  0.0738856  0.0182345
  0.153446  -0.735795   -0.65959    0.08837
-0.0377741    0.66264  -0.747985   0.706907
         0          0          0          1
  0.921692  -0.384004  0.0549909 -0.0723985
 -0.264864  -0.726527   -0.63404  -0.135346
  0.283426   0.569825  -0.771343   0.886681
         0          0          0          1
