2
  0.945123  -0.286884   0.156332  0.0271303
 -0.156433  -0.817446  -0.554356 0.00515023
  0.286829   0.499479  -0.817465   0.748372
         0          0          0          1
 0.660878 -0.727767  0.183289 -0.174623
-0.565304 -0.643364  -0.51625 -0.198001
 0.493632  0.237564 -0.836595  0.834754
        0         0         0         1
