2
  0.797013   0.603749  -0.016023 -0.0478461
  0.478469  -0.647375  -0.593273  0.0378522
 -0.368561    0.46518  -0.804842   0.767988
         0          0          0          1
  0.997415  0.0694355 -0.0184974   0.014813
 0.0455062  -0.809585  -0.585237  -0.201972
-0.0556114   0.582882  -0.810652   0.938409
         0          0          0          1
