2
  0.558534  -0.828283 -0.0445811   0.102332
 -0.592332  -0.360648  -0.720469   -0.17154
  0.580675   0.428813  -0.692052   0.860168
         0          0          0          1
-0.0291524  -0.999565 0.00447988  -0.200046
 -0.683912  0.0166773  -0.729374  -0.173441
  0.728982 -0.0243268  -0.684101   0.864866
         0          0          0          1
