2
  0.839779   0.522726  -0.146727 -0.0335765
  0.365928  -0.744586  -0.558291  0.0501004
 -0.401085   0.415149  -0.816568   0.801592
         0          0          0          1
   0.989597   -0.016637   -0.142902 -0.00247713
 -0.0942312   -0.825526   -0.556442   -0.199723
  -0.108712    0.564119   -0.818506    0.962587
          0           0           0           1
