2
  0.547766  -0.755009  -0.360436   0.112482
 -0.781319  -0.307595  -0.543071 -0.0907243
  0.299155   0.579091  -0.758393   0.700774
         0          0          0          1
  0.304923  -0.897894  -0.317503  -0.167877
  -0.79732 -0.0583455   -0.60073 -0.0519199
  0.520867   0.436328    -0.7337   0.816347
         0          0          0          1
