2
  0.559415  -0.828592 -0.0221444   0.168739
  -0.60911  -0.392822  -0.688967  -0.162741
  0.562174   0.398907  -0.724454    0.84361
         0          0          0          1
 0.0080325  -0.998851  0.0472555  -0.134147
 -0.687685 -0.0398262  -0.724917   -0.18712
  0.725965 -0.0266739  -0.687214   0.844307
         0          0          0          1
