2
  0.232518  -0.972496   0.013703 -0.0937117
 -0.820887  -0.203786  -0.533494  -0.168921
  0.521613   0.112798  -0.845693    0.76893
         0          0          0          1
-0.323149 -0.942814 0.0817101  -0.38401
 -0.80543  0.228671 -0.546802 -0.122945
 0.496848  -0.24251 -0.833265  0.715808
        0         0         0         1
