2
  0.945812   0.300105      0.124  -0.109486
  0.313359  -0.743466  -0.590817  0.0530889
-0.0851171   0.597658   -0.79722   0.682657
         0          0          0          1
 0.955875 -0.271258  0.112795 -0.146333
 -0.16168 -0.806322  -0.56895 -0.193577
 0.245281  0.525608   -0.8146  0.848598
        0         0         0         1
