2
  0.329276   0.944078 -0.0171758  0.0222024
 -0.611208   0.226972   0.758227 -0.0657894
  0.719724  -0.239168   0.651765   0.912958
         0          0          0          1
 -0.191977    0.98075 -0.0356935  -0.277161
 -0.637706 -0.0970175   0.764145 -0.0479714
  0.745973    0.16946   0.644056   0.874015
         0          0          0          1
