2
  0.233424   0.971387  0.0438243  -0.182088
  0.836815  -0.177724  -0.517837 -0.0815933
 -0.495231   0.157548  -0.854356   0.716344
         0          0          0          1
   0.708841     0.70531 -0.00909122   0.0575637
   0.600994    -0.61065   -0.515667   -0.244673
  -0.369257    0.360062   -0.856741    0.814613
          0           0           0           1
