2
  0.945836  -0.322936 -0.0332519   0.145693
  0.260472   0.693748   0.671467   0.137295
 -0.193772  -0.643759   0.740288    0.68072
         0          0          0          1
  0.994188  0.0181424  -0.106119  0.0870516
 0.0582008   0.738675   0.671545 -0.0725238
 0.0905711  -0.673818   0.733326    0.89319
         0          0          0          1
