2
  0.971743  -0.044566   0.231795 -0.0109274
  0.131285  -0.714054  -0.687671 0.00691969
  0.196161   0.698671  -0.688026   0.682387
         0          0          0          1
 0.804378 -0.546346  0.233415 -0.147535
-0.288088 -0.702277 -0.651008 -0.207257
 0.519598  0.456412 -0.722292  0.837511
        0         0         0         1
