2
  0.278767  -0.949112   0.146547    0.15868
  -0.65292   -0.29921  -0.695823 -0.0241861
  0.704262  0.0982885  -0.703104   0.705999
         0          0          0          1
 -0.262743    -0.9457   0.191357  -0.138597
 -0.728519  0.0644071  -0.681991 -0.0311987
  0.632634  -0.318596  -0.705883   0.630733
         0          0          0          1
