2
   0.98314   0.117674  -0.139956 0.00198652
  0.019405   0.693939   0.719772   0.102485
   0.18182  -0.710352   0.679956   0.660904
         0          0          0          1
  0.777614   0.612136  -0.143547  -0.154873
 -0.367144   0.627424   0.686691 -0.0962671
  0.510413  -0.481278   0.712636   0.828184
         0          0          0          1
