2
  0.201398   0.972937  -0.113279  0.0825025
 -0.670673    0.22126   0.707985  0.0326227
  0.713889 -0.0666137   0.697084   0.765592
         0          0          0          1
-0.343108  0.924697 -0.164963 -0.214108
-0.703781 -0.136772  0.697126 0.0478509
 0.622068  0.355287  0.697712  0.678196
        0         0         0         1
