2
  0.979218   0.179437 -0.0945273   0.110583
-0.0995808   0.831411   0.546661   0.103194
  0.176682  -0.525887   0.832001   0.743072
         0          0          0          1
  0.739576    0.66647 -0.0940419 -0.0683596
 -0.534456   0.666432   0.519833  -0.114803
  0.409126  -0.334195   0.849076   0.856662
         0          0          0          1
