2
  -0.105349   -0.994435 0.000984629  0.00294921
  -0.801572   0.0843313   -0.591921   -0.156251
   0.588544  -0.0631475   -0.805995    0.917057
          0           0           0           1
 -0.633505  -0.772093  0.0504349   -0.25165
 -0.647634   0.493461  -0.580574 -0.0344818
  0.423369   -0.40046  -0.812644   0.809169
         0          0          0          1
