2
  0.117036   0.982732    0.14332 -0.0522189
  0.923795 -0.0547516  -0.378952 -0.0665244
 -0.364562   0.176749  -0.914251   0.650617
         0          0          0          1
 0.638039   0.76132  0.115318  0.201064
  0.73756 -0.561248 -0.375508 -0.205827
 -0.22116  0.324643 -0.919617  0.740225
        0         0         0         1
