2
  0.899366  0.0656356   0.432242 -0.0606692
  0.257226  -0.878879  -0.401753  0.0582354
   0.35352   0.472506  -0.807318   0.698448
         0          0          0          1
 0.820823 -0.389191  0.418068 -0.152495
-0.238613 -0.898651 -0.368091  -0.21335
 0.518955  0.202381 -0.830499  0.768864
        0         0         0         1
