2
  0.898218    0.43348 -0.0727879    0.16774
  0.259409  -0.656466   -0.70835  0.0640007
 -0.354839   0.617371  -0.702098   0.643694
         0          0          0          1
  0.991545   0.113255  0.0633439    0.15312
  0.124743  -0.697395  -0.705747   -0.14136
-0.0357538   0.707682  -0.705626   0.865841
         0          0          0          1
