2
  0.947735 -0.0883321   0.306588  0.0289218
 0.0347023  -0.926674   -0.37426  0.0853796
  0.317166   0.365339  -0.875176   0.887771
         0          0          0          1
 0.774066 -0.544395  0.323198 -0.114245
-0.451703 -0.832586  -0.32057 -0.172145
 0.443606  0.102153 -0.890381  0.933832
        0         0         0         1
