2
  0.970715   -0.23781   0.034022 -0.0258465
 -0.173121  -0.790676  -0.587249  0.0602442
  0.166554   0.564162  -0.808691   0.719148
         0          0          0          1
 0.689883 -0.721421 0.0601054 -0.221003
-0.583261 -0.603097 -0.544132 -0.134259
 0.428798   0.34033 -0.836844  0.837141
        0         0         0         1
