2
  0.930284   0.291751   0.222381 -0.0113161
  0.363338  -0.649226  -0.668201  0.0377489
-0.0505729   0.702416  -0.709968   0.754092
         0          0          0          1
  0.951262   -0.22731     0.2084 -0.0553745
-0.0413992  -0.763794  -0.644131  -0.189114
  0.305592    0.60411  -0.735979   0.944462
         0          0          0          1
