2
  0.813505   0.562511  -0.147618 -0.0355935
  0.391412  -0.717325  -0.576404  0.0597289
 -0.430124   0.411128  -0.803721   0.808652
         0          0          0          1
  0.987941  0.0528548  -0.145528  0.0107363
-0.0416757  -0.814456  -0.578728  -0.186837
 -0.149115   0.577814  -0.802432   0.973189
         0          0          0          1
