2
  0.994448   0.058256  0.0876255   0.110026
-0.0981079   0.814369   0.571995  0.0945554
-0.0380373  -0.577416   0.815564   0.779281
         0          0          0          1
  0.801075   0.591614  0.0909486 -0.0411025
 -0.536721   0.642706   0.546681  -0.116026
  0.264971  -0.486746   0.832388   0.934881
         0          0          0          1
