2
  0.958987  -0.224176   0.173461 -0.0170704
 -0.110549  -0.859308  -0.499369 -0.0535128
  0.261003   0.459713  -0.848847   0.694161
         0          0          0          1
 0.688199 -0.699463  0.192701 -0.199853
-0.561359 -0.681618 -0.469332 -0.272547
 0.459629  0.214819 -0.861739  0.770737
        0         0         0         1
