2
  0.978839   0.176605  -0.103368  0.0788944
-0.0908104   0.827565   0.553977  0.0991706
  0.183379  -0.532867    0.82609   0.752187
         0          0          0          1
  0.738143   0.664914  -0.114168 -0.0978182
 -0.528224   0.674875    0.51529  -0.118854
  0.419672  -0.320051   0.849378   0.867167
         0          0          0          1
