2
  0.359956   0.928946   0.086553 -0.0694988
  0.802678  -0.261066  -0.536239  0.0587984
 -0.475541   0.262497  -0.839617   0.741775
         0          0          0          1
 0.788072   0.61213 0.0651093  0.138323
 0.544797 -0.644296  -0.53673 -0.120943
-0.286599  0.458454 -0.841238  0.869895
        0         0         0         1
