2
  0.0906166    0.994298    -0.05622   -0.024648
  -0.825226     0.10657    0.554658  -0.0996471
   0.557486 -0.00386712    0.830177    0.927781
          0           0           0           1
 -0.481561   0.868047  -0.120804  -0.306221
 -0.762833  -0.347289   0.545413 -0.0268423
  0.431491   0.354803   0.829416   0.836807
         0          0          0          1
