2
  0.213023  -0.970537   0.112603  -0.113004
  0.818084   0.240187   0.522541 -0.0091857
 -0.534191 -0.0191948   0.845146   0.806468
         0          0          0          1
 0.685761  -0.71095  0.155828  0.128478
  0.55775  0.650878  0.515046 -0.183198
-0.467597 -0.266286  0.842879  0.870302
        0         0         0         1
