2
  0.930825  -0.180949  -0.317524   0.176194
 -0.354784  -0.655909  -0.666267   0.053234
-0.0877065   0.732831  -0.674734   0.613709
         0          0          0          1
  0.748317  -0.603018  -0.276387  0.0135611
 -0.598652  -0.434459   -0.67295 -0.0812722
  0.285722    0.66904  -0.686111   0.837825
         0          0          0          1
