2
  0.946296   0.320378 -0.0433823   0.173081
  0.193039  -0.667553  -0.719103   0.118882
 -0.259344    0.67211  -0.693548   0.632348
         0          0          0          1
  0.964001  -0.261185 -0.0498511   0.142897
 -0.220288  -0.679479  -0.699844 -0.0854268
  0.148916   0.685632  -0.712554   0.857839
         0          0          0          1
