2
  0.978536   0.184344 -0.0921082   0.116797
 -0.105866   0.833168   0.542794   0.105428
  0.176802  -0.521392     0.8348   0.740678
         0          0          0          1
  0.743586   0.661309 -0.0987442  -0.062027
 -0.530669   0.673522   0.514546  -0.112543
  0.406781  -0.330209   0.851758   0.854097
         0          0          0          1
