2
  0.968797  -0.222573   -0.10906   0.126106
  -0.24397  -0.778721   -0.57799 -0.0175849
 0.0437177   0.586562  -0.808724   0.609505
         0          0          0          1
  0.876536  -0.481142   -0.01366 -0.0549327
 -0.390323  -0.693905  -0.605098  -0.196659
  0.281659   0.535722  -0.796034   0.772473
         0          0          0          1
