2
  0.896631   0.403083   0.183238 -0.0961829
  0.404125  -0.575892  -0.710656  0.0552119
 -0.180928   0.711248  -0.679259   0.690407
         0          0          0          1
  0.976983   -0.14404   0.157345  -0.102852
0.00620678    -0.7181  -0.695913  -0.158477
  0.213229   0.680872  -0.700677   0.903688
         0          0          0          1
