2
  0.894444    0.40372   0.192303 -0.0943978
  0.414684  -0.587898   -0.69456  0.0403636
 -0.167353    0.70099  -0.693258   0.690244
         0          0          0          1
  0.975884  -0.135252   0.171343 -0.0968092
 0.0155969  -0.739717  -0.672737   -0.17677
  0.217734   0.659186  -0.719768   0.898042
         0          0          0          1
