2
  0.347949  -0.937354 -0.0173145   0.113413
 -0.744271  -0.264952  -0.613076 -0.0737996
  0.570081   0.226206  -0.789835   0.761719
         0          0          0          1
 -0.220183  -0.974534  0.0424654  -0.188867
 -0.789032   0.152337  -0.595165 -0.0522663
  0.573539  -0.164552  -0.802481   0.733825
         0          0          0          1
