2
  0.821251   0.569686  0.0316874 -0.0211251
  0.484569  -0.667073  -0.565869  0.0626227
  -0.30123   0.480075  -0.823887   0.741547
         0          0          0          1
   0.998613   0.0482686   0.0210206   0.0253996
  0.0517164   -0.824634   -0.563298   -0.184526
-0.00985529    0.563604   -0.825987    0.906689
          0           0           0           1
