2
  0.952067   0.304367 -0.0304702    0.17448
  0.197461  -0.687611  -0.698713   0.103058
 -0.233617   0.659206  -0.714753    0.62471
         0          0          0          1
  0.999132 0.00397435  0.0414747   0.124166
 0.0316585  -0.719566  -0.693703  -0.101643
 0.0270867   0.694413  -0.719067   0.845482
         0          0          0          1
