2
  0.117036  -0.982732   -0.14332 -0.0660876
  0.923795  0.0547516   0.378952 -0.0433132
 -0.364562  -0.176749   0.914251    0.70786
         0          0          0          1
 0.638039  -0.76132 -0.115318  0.189476
  0.73756  0.561248  0.375508 -0.180216
 -0.22116 -0.324643  0.919617  0.796949
        0         0         0         1
