2
  0.170894   0.985219 -0.0117596   0.114288
 -0.836184   0.151335   0.527157 -0.0839275
  0.521144 -0.0802547   0.849687   0.761501
         0          0          0          1
  -0.39567   0.915827 -0.0685981  -0.181722
 -0.800637  -0.307381   0.514293 -0.0239395
  0.449918   0.258412   0.854867    0.70172
         0          0          0          1
