2
  0.786641   0.500563   0.361431  -0.151334
  0.614771  -0.580974   -0.53341  0.0481112
-0.0570234     0.6418   -0.76475   0.644347
         0          0          0          1
  0.939159 -0.0111121   0.343303  -0.113411
  0.179698  -0.835891  -0.518648  -0.192641
  0.292727   0.548783  -0.783037   0.819751
         0          0          0          1
