2
  0.231871  -0.971042 -0.0575693   0.227819
 -0.677544  -0.118756  -0.725832 -0.0533136
  0.697976   0.207305  -0.685459   0.704479
         0          0          0          1
  -0.325863    -0.94512  -0.0236791  -0.0777859
  -0.654146    0.243481   -0.716108 -0.00466569
   0.682574   -0.217864   -0.697588    0.657367
          0           0           0           1
