2
  0.593718  -0.794748  -0.125993   0.124822
  -0.61986  -0.351873  -0.701398 -0.0564252
  0.513101    0.49453  -0.701546   0.774111
         0          0          0          1
  0.171625     -0.982 -0.0788772   -0.17332
 -0.632621 -0.0484789  -0.772943 -0.0832886
  0.755206   0.182556  -0.629553   0.827161
         0          0          0          1
