2
  0.268849   0.962334 -0.0404058  0.0216628
 -0.815241   0.249694   0.522528  -0.175124
  0.512936  -0.107541   0.851664   0.855783
         0          0          0          1
 -0.278059   0.957288 -0.0792725  -0.273806
 -0.836317  -0.200671   0.510201  -0.145283
  0.472501   0.208163   0.856395   0.807759
         0          0          0          1
