2
  0.105233   0.993653  0.0397414   0.058806
 -0.765409  0.0554178   0.641154  -0.019529
  0.634882 -0.0978891   0.766383   0.869716
         0          0          0          1
  -0.45239   0.891607 -0.0195244  -0.231253
 -0.693771  -0.338085    0.63591  0.0574483
   0.56038   0.301225   0.771517    0.80118
         0          0          0          1
