2
  0.956116   0.243161   0.163446  -0.148395
  0.292559  -0.762193  -0.577469  0.0501477
-0.0158403   0.599945  -0.799885   0.651414
         0          0          0          1
 0.937384  -0.31421  0.150278 -0.203692
-0.182746 -0.810999 -0.555773 -0.196053
 0.296505   0.49351 -0.817639  0.807079
        0         0         0         1
