2
  0.907796   0.408149 -0.0965425    0.16593
  0.225626  -0.669284  -0.707921  0.0582148
 -0.353552   0.620866  -0.699662   0.640944
         0          0          0          1
 0.974195 -0.174123 -0.143617  0.160345
-0.224828 -0.692434 -0.685556 -0.142882
0.0199255  0.700155 -0.713713  0.867318
        0         0         0         1
