2
  0.653459  -0.743791  -0.140595   0.173213
 -0.606571  -0.403408  -0.685079 -0.0296594
  0.452839   0.532952  -0.714772   0.730377
         0          0          0          1
  0.347321  -0.929924  -0.120869    -0.1187
 -0.698025  -0.170306  -0.695526 -0.0568693
  0.626202   0.325941  -0.708261   0.809726
         0          0          0          1
