2
  0.940341   0.313159   0.133003    -0.1231
   0.32956  -0.741218  -0.584796  0.0628893
-0.0845496    0.59374  -0.800203   0.663296
         0          0          0          1
 0.961406 -0.251099  0.112464 -0.158556
-0.145113 -0.810057 -0.568111  -0.18648
 0.233754  0.529865 -0.815231  0.827831
        0         0         0         1
