2
  0.978839  -0.176605   0.103368     0.0856
-0.0908104  -0.827565  -0.553977  0.0601521
  0.183379   0.532867   -0.82609   0.702787
         0          0          0          1
  0.738143  -0.664914   0.114168 -0.0930178
 -0.528224  -0.674875   -0.51529  -0.155161
  0.419672   0.320051  -0.849378   0.815527
         0          0          0          1
