2
  0.924952   0.378378 -0.0359739   0.181298
  0.240179  -0.655216  -0.716244   0.105946
 -0.294582   0.653851  -0.696922   0.631502
         0          0          0          1
 0.995818 0.0522261  0.074959  0.152509
0.0899307 -0.704876 -0.703607 -0.098578
0.0160901  0.707405 -0.706625  0.856353
        0         0         0         1
