2
  0.907949   0.413698 -0.0669469    0.17231
  0.245261  -0.654074  -0.715566  0.0726181
 -0.339817   0.633278   -0.69533   0.641754
         0          0          0          1
  0.989545  -0.125683 -0.0707414   0.166924
 -0.139094  -0.702005  -0.698457  -0.130809
  0.038123   0.700994  -0.712147   0.867153
         0          0          0          1
