2
  0.214668   0.971016  -0.105098  -0.140755
 -0.831355   0.238141   0.502133  -0.255266
  0.512608 -0.0204184    0.85838   0.790895
         0          0          0          1
  0.214668   0.971016  -0.105098  -0.140755
 -0.831355   0.238141   0.502133  -0.255266
  0.512608 -0.0204184    0.85838   0.790895
         0          0          0          1
