2
  0.232024  -0.929218   0.287609 -0.0447077
 -0.813566  -0.347457  -0.466245     -0.246
  0.533175  -0.125809  -0.836598   0.799296
         0          0          0          1
  -0.3207 -0.889798   0.32467 -0.320012
-0.874249  0.146175 -0.462948  -0.23898
 0.364472  -0.43231 -0.824784  0.682475
        0         0         0         1
