2
 0.931611  0.135242 -0.337359 0.0711082
0.0432124  0.880396  0.472267 0.0898556
  0.36088 -0.454547  0.814342  0.762517
        0         0         0         1
  0.724871   0.591783   -0.35264 -0.0849962
 -0.437435    0.79086   0.428009   -0.16004
  0.532178  -0.155994   0.832138   0.831019
         0          0          0          1
