2
  0.968245   0.243005 -0.0587466 0.00557039
 -0.142301    0.72889    0.66968   0.136668
  0.205555  -0.640054   0.740323   0.734815
         0          0          0          1
  0.687085    0.72299 -0.0721085  -0.185207
 -0.534872   0.570472   0.623276 -0.0550574
  0.491759  -0.389675    0.77867   0.878301
         0          0          0          1
