2
  0.884349 -0.0845241  -0.459111 -0.0475084
  0.323624   0.819795   0.472444   0.107408
  0.336444  -0.566385   0.752339   0.754674
         0          0          0          1
 0.803598  0.376863 -0.460656  -0.13607
-0.171226  0.887655  0.427494 -0.162759
  0.57001 -0.264657  0.777847  0.854842
        0         0         0         1
