2
  0.287179  -0.945691   0.152305   0.157498
 -0.651055  -0.309337  -0.693136 -0.0232421
  0.702606  0.0998952  -0.704532   0.703443
         0          0          0          1
 -0.254021  -0.946143   0.200714  -0.140357
  -0.73402  0.0534472  -0.677022 -0.0336328
  0.629832  -0.319306  -0.708065   0.627981
         0          0          0          1
