2
  0.971743   0.044566  -0.231795 -0.0263632
  0.131285   0.714054   0.687671  0.0536005
  0.196161  -0.698671   0.688026   0.722267
         0          0          0          1
 0.804378  0.546346 -0.233415 -0.160498
-0.288088  0.702277  0.651008 -0.162506
 0.519598 -0.456412  0.722292  0.880373
        0         0         0         1
