2
  0.964615   0.260485 -0.0408113  0.0762534
  0.159661  -0.700261  -0.695804   0.111598
 -0.209826   0.664667  -0.717071   0.659508
         0          0          0          1
  0.976145  -0.216772 -0.0123074 -0.0188976
 -0.160602  -0.682735  -0.712797 -0.0729934
  0.146112    0.69777  -0.701262   0.879546
         0          0          0          1
