2
   -0.999996 -0.000360296   0.00286714   -0.0959428
  0.00232632    -0.688999     0.724758   -0.0346468
  0.00171433     0.724762     0.688998     0.873543
           0            0            0            1
 -0.75304 -0.643595  0.136807  0.105334
 0.524057  -0.46094  0.716169  0.115871
-0.397863  0.610999  0.684387  0.680935
        0         0         0         1
