2
  0.958849   0.253116  -0.128609  0.0776372
  0.108196  -0.744564  -0.658724 0.00399631
 -0.262492   0.617702  -0.741311   0.655337
         0          0          0          1
  0.983259  -0.164968 -0.0773829 0.00169591
 -0.174387  -0.728795  -0.662154  -0.192967
 0.0528378   0.664563  -0.745362   0.870675
         0          0          0          1
