2
  0.977271   0.211977 0.00282374   0.114122
  0.156431  -0.712071   -0.68446  0.0958025
 -0.143079   0.669344  -0.729046   0.663097
         0          0          0          1
 0.942716 -0.333387 0.0117964 0.0391954
-0.236924 -0.694005 -0.679871 -0.105561
 0.234847  0.638131 -0.733237  0.877482
        0         0         0         1
