2
  0.196161   0.978636  0.0615813   0.211607
 -0.683091  0.0913251   0.724601 -0.0107606
  0.703496  -0.184204   0.686412   0.762445
         0          0          0          1
 -0.354605   0.934841  0.0180792 -0.0863908
 -0.643529   -0.25804   0.720615  0.0411254
  0.678326     0.2439     0.6931   0.710384
         0          0          0          1
