2
  0.229263   0.970878 -0.0695228  -0.029867
 -0.819561   0.231078    0.52433   -0.20852
  0.525126 -0.0632315   0.848672   0.814925
         0          0          0          1
-0.321768  0.939355 -0.118646 -0.322089
-0.835328 -0.222647  0.502648 -0.171894
 0.445749  0.260844  0.856311   0.75227
        0         0         0         1
