2
  0.104495   0.994217  0.0247619  0.0879514
 -0.844072  0.0754924    0.53089  -0.171578
  0.525951 -0.0763764   0.847079   0.952404
         0          0          0          1
 -0.466778   0.883067 -0.0480737  -0.197996
 -0.769001  -0.378438   0.515191 -0.0883655
  0.436755   0.277449   0.855726   0.885908
         0          0          0          1
