2
  0.323349   0.945587 -0.0362086   0.121271
 -0.805251   0.295054    0.51431  -0.197584
  0.497008  -0.137145    0.85684   0.844644
         0          0          0          1
 -0.232623   0.967443 -0.0997033   -0.17712
 -0.849675  -0.152277   0.504841  -0.185943
  0.473222   0.202153   0.857436   0.798801
         0          0          0          1
