2
  0.989081  -0.129555 -0.0702465   0.115974
 -0.146065  -0.798386  -0.584162 -0.0113994
 0.0195974   0.588044  -0.808592   0.611886
         0          0          0          1
  0.911464  -0.411242    0.01068 -0.0492504
 -0.322811  -0.731079  -0.601097  -0.203607
  0.255004    0.54443  -0.799105   0.776724
         0          0          0          1
