2
  0.980231  -0.150531   0.128402  0.0590758
-0.0511955   -0.81984    -0.5703  0.0666177
  0.191117   0.552452  -0.811339   0.709482
         0          0          0          1
 0.763212 -0.632015  0.134404 -0.111043
-0.485275 -0.697998   -0.5266 -0.153109
 0.426632  0.336685 -0.839422  0.825796
        0         0         0         1
