2
  0.378255  -0.925407 -0.0233508   0.149586
 -0.731303   -0.28326  -0.620451 -0.0938159
  0.567556   0.251765  -0.783897    0.73398
         0          0          0          1
 -0.170582  -0.985084  0.0226351  -0.153874
 -0.790723   0.123146   -0.59966 -0.0817534
  0.587928  -0.120189  -0.799935   0.716838
         0          0          0          1
