2
  0.553881   0.832588 0.00377962   0.167003
 -0.609964   0.402682   0.682488  -0.102633
   0.56671  -0.380322   0.730887   0.904897
         0          0          0          1
   0.15103   0.987865 -0.0362412  -0.135696
 -0.716114   0.134609    0.68488  -0.123598
  0.681447 -0.0774847   0.727754    0.91306
         0          0          0          1
