2
  0.990422 -0.0529924  -0.127497   0.144481
  0.119178    0.79437   0.595628    0.11678
 0.0697159  -0.605118   0.793077    0.71662
         0          0          0          1
 0.874437  0.469509 -0.122153  0.029247
-0.323844  0.752384  0.573624 -0.119893
 0.361228 -0.462039   0.80996   0.86698
        0         0         0         1
