2
  0.928351 0.00811116  -0.371615   0.102129
 -0.227819  -0.777552  -0.586099  0.0376357
 -0.293704   0.628767  -0.719994   0.625371
         0          0          0          1
    0.7888  -0.492028  -0.368379 -0.0106958
 -0.610041  -0.553444  -0.567054  -0.137818
 0.0751292   0.672019  -0.736714   0.846299
         0          0          0          1
