2
  0.934964   0.352849 -0.0366019   0.177042
   0.22103  -0.660145  -0.717882   0.113507
 -0.277466   0.663104  -0.695202   0.631551
         0          0          0          1
  0.967882  -0.248328 -0.0392169   0.153332
 -0.203529  -0.682402  -0.702071 -0.0917856
  0.147582   0.687503  -0.711027   0.856543
         0          0          0          1
