2
  0.956295   0.291433 -0.0238235   0.167174
   0.19359  -0.692082  -0.695375  0.0975676
 -0.219143   0.660371  -0.718253   0.620333
         0          0          0          1
  0.964096  -0.264581 -0.0227214   0.125697
 -0.208601    -0.7016  -0.681354  -0.111771
  0.164332    0.66163  -0.731601   0.837342
         0          0          0          1
