2
  0.980474  -0.158284    0.11669  0.0689602
-0.0656154  -0.822719  -0.564648  0.0653363
  0.185378   0.545966  -0.817041   0.708457
         0          0          0          1
 0.755803 -0.643851  0.119239 -0.105429
-0.501186 -0.686013 -0.527445  -0.15197
 0.421395  0.338884  -0.84118  0.824192
        0         0         0         1
