2
  0.288428   0.957029 -0.0300894  0.0441602
 -0.796481   0.257247   0.547213  -0.148793
  0.531439  -0.133866   0.836453   0.865236
         0          0          0          1
 -0.276557   0.957903 -0.0770577  -0.255028
 -0.825724  -0.195842   0.528986  -0.122312
  0.491626   0.209924   0.845125   0.819591
         0          0          0          1
