2
  0.959039   0.277537 -0.0567309   0.169594
  0.157639  -0.689271  -0.707146   0.106799
 -0.235362   0.669237  -0.704788   0.634423
         0          0          0          1
  0.982131  -0.185431 -0.0321457   0.128467
 -0.155875   -0.70579   -0.69106 -0.0977133
  0.105456   0.683723  -0.722082   0.856239
         0          0          0          1
