2
  0.984165  0.0722004   0.161883 -0.0892256
   0.16371  -0.720382   -0.67398  0.0464318
  0.067956    0.68981  -0.720794   0.752208
         0          0          0          1
 0.876565 -0.455904  0.154224 -0.189893
-0.268222  -0.72882 -0.629982 -0.173955
 0.399613  0.510855 -0.761142  0.921033
        0         0         0         1
