2
  0.971238  0.0803868   0.224129 -0.0170662
  0.218533  -0.674703  -0.704996  0.0206582
 0.0945483   0.733698  -0.672865   0.673087
         0          0          0          1
 0.871342 -0.437676  0.221815 -0.121165
-0.187592 -0.714862 -0.673632 -0.195308
   0.4534  0.545354 -0.704995  0.853173
        0         0         0         1
