2
  0.931625 -0.0586254    0.35866  0.0214028
 0.0766127  -0.933042  -0.351515   0.071805
  0.355252   0.354959  -0.864755   0.844033
         0          0          0          1
 0.757007 -0.538778  0.369673 -0.118223
-0.449852 -0.840074 -0.303166 -0.191612
 0.473891 0.0632008 -0.878313  0.877648
        0         0         0         1
