2
  0.954347    0.27152  -0.124496  0.0815792
  0.124483  -0.740404  -0.660536 0.00651225
 -0.271525   0.614883  -0.740401   0.654185
         0          0          0          1
   0.98728  -0.150363 -0.0516709  0.0109332
 -0.146052  -0.729266  -0.668461   -0.19376
 0.0628298   0.667504  -0.741951   0.868366
         0          0          0          1
