2
  0.287179   0.945691  -0.152305   0.152106
 -0.651055   0.309337   0.693136  0.0226688
  0.702606 -0.0998953   0.704532   0.746697
         0          0          0          1
 -0.254021   0.946143  -0.200714  -0.148235
  -0.73402 -0.0534473   0.677022 0.00961345
  0.629832   0.319306   0.708065    0.67354
         0          0          0          1
