2
  0.944664    0.30459   0.121797  -0.103733
  0.315246  -0.740258  -0.593833  0.0457386
-0.0907146   0.599369  -0.795317   0.690772
         0          0          0          1
 0.959627 -0.256363  0.115734 -0.140433
-0.148867 -0.812013 -0.564335 -0.200013
 0.238652  0.524322 -0.817393  0.856327
        0         0         0         1
