2
  0.876048  -0.481536 -0.0257292   0.109252
 -0.447638  -0.792219  -0.414742 -0.0362136
   0.17933   0.374852  -0.909576   0.795952
         0          0          0          1
 0.473822 -0.880613   0.00356 -0.139575
 -0.82057 -0.442976 -0.361161 -0.191541
  0.31962  0.168205 -0.932497   0.86108
        0         0         0         1
