2
  0.955526  -0.206625   0.210418   0.111066
-0.0970364  -0.894065    -0.4373  0.0818784
  0.278484   0.397434  -0.874353   0.775931
         0          0          0          1
  0.698322  -0.678631   0.227609 -0.0716803
 -0.566249  -0.718273  -0.404285  -0.151576
  0.437846   0.153438   -0.88586   0.836237
         0          0          0          1
