2
  0.946657   0.301193    0.11456 -0.0878126
  0.308013  -0.741256  -0.596379  0.0401468
-0.0947069   0.599852  -0.794486   0.709612
         0          0          0          1
 0.963565 -0.245915  0.105205 -0.128053
-0.142197  -0.80411 -0.577224 -0.203964
 0.226545  0.541233 -0.809781  0.878042
        0         0         0         1
