2
  0.796102   0.602154   0.060261 -0.0875788
  0.511664  -0.616585   -0.59835  0.0324243
 -0.323143   0.507181  -0.798966   0.755616
         0          0          0          1
   0.994253   0.0901082   0.0578083   -0.026664
   0.106865    -0.80297   -0.586361   -0.203058
-0.00641758    0.589169   -0.807984    0.929853
          0           0           0           1
