2
  0.232518   0.972496 -0.0137029 -0.0901695
 -0.820887   0.203786   0.533494  -0.133413
  0.521613  -0.112798   0.845693   0.821222
         0          0          0          1
 -0.323149   0.942814   -0.08171   -0.38432
  -0.80543  -0.228671   0.546802 -0.0886821
  0.496848    0.24251   0.833265    0.76904
         0          0          0          1
