2
  0.242452   0.968135 -0.0627025 -0.0229843
 -0.842026   0.242092   0.482062  -0.222693
  0.481881 -0.0640797   0.873891   0.830055
         0          0          0          1
-0.291547  0.950232 -0.109818 -0.317965
-0.861868 -0.211148  0.461085 -0.189028
  0.41495  0.229076  0.880534  0.775942
        0         0         0         1
