2
  0.557791  -0.829906 -0.0112101   0.124838
 -0.588532  -0.385964  -0.710395  -0.144641
  0.585235   0.402849  -0.703714    0.88303
         0          0          0          1
 0.123809 -0.991851 0.0300665 -0.174171
-0.616954 -0.100673 -0.780534 -0.175451
   0.7772 0.0780872  -0.62439  0.868261
        0         0         0         1
