2
  0.278898  -0.951597   0.129149   0.164882
 -0.645839  -0.285392  -0.708127 -0.0211784
   0.71071   0.114086  -0.694173   0.708078
         0          0          0          1
 -0.273269  -0.944846   0.180525  -0.134105
 -0.719075  0.0759914  -0.690765 -0.0241191
  0.638948  -0.318576  -0.700182   0.634099
         0          0          0          1
