2
  0.175193   0.962814  -0.205664 -0.0730709
 -0.747278   0.266046    0.60893  -0.158829
  0.641002  0.0470072   0.766098   0.856384
         0          0          0          1
-0.395482  0.880266 -0.262156 -0.356243
 -0.78438 -0.175195  0.595025 -0.143058
 0.477852  0.440951   0.75975  0.745222
        0         0         0         1
