2
  0.215749   0.935181  -0.280872 -0.0475729
 -0.821832   0.329246   0.464963  -0.211871
    0.5273   0.130515   0.839595   0.855444
         0          0          0          1
-0.318984  0.891712  -0.32109   -0.3273
-0.875793 -0.147834  0.459491 -0.207321
 0.362265  0.427779  0.828112  0.740684
        0         0         0         1
