2
  0.232024   0.929218  -0.287609 -0.0586603
 -0.813566   0.347457   0.466245  -0.214058
  0.533175   0.125809   0.836598   0.852143
         0          0          0          1
  -0.3207  0.889798  -0.32467 -0.335913
-0.874249 -0.146175  0.462948 -0.209542
 0.364472   0.43231  0.824784  0.736219
        0         0         0         1
