2
  0.994381  0.0610968  0.0864518  0.0475751
 -0.100416   0.802934   0.587549   0.146662
-0.0335178  -0.592929   0.804557   0.810326
         0          0          0          1
  0.825333   0.556247  0.0970336 -0.0895797
 -0.508103   0.656679   0.557319 -0.0678654
  0.246287  -0.509277   0.824609   0.972371
         0          0          0          1
