2
  0.305327   0.950497  0.0577099 -0.0389233
  0.821164  -0.232127  -0.521351  0.0459224
 -0.482147   0.206572  -0.851389   0.746871
         0          0          0          1
  0.76373  0.644327 0.0394754  0.180586
 0.565757 -0.638644 -0.521588 -0.128765
-0.310863  0.420686 -0.852284  0.860484
        0         0         0         1
