2
  0.977357   0.188935 -0.0952719  0.0999787
 -0.106799   0.829161   0.548713   0.101064
  0.182667  -0.526113   0.830565   0.746036
         0          0          0          1
  0.736391   0.669224 -0.0993371 -0.0795876
 -0.533788   0.664914   0.522456  -0.115926
   0.41569  -0.331707   0.846861   0.859623
         0          0          0          1
