2
  0.842678   0.537588 -0.0298864  0.0153662
   0.44066  -0.720508  -0.535432  0.0639224
 -0.309375   0.438027  -0.844049   0.745156
         0          0          0          1
  0.998487 0.00292052 -0.0549024  0.0462982
-0.0273222  -0.840198  -0.541592   -0.19165
-0.0477106   0.542273  -0.838847   0.902085
         0          0          0          1
