2
  0.114242   0.990453    0.07715   0.156237
  -0.72975  0.0309693   0.683012 -0.0413021
  0.674102  -0.134329   0.726321   0.762797
         0          0          0          1
-0.428657  0.903058 0.0271752 -0.136069
-0.651056 -0.329613  0.683726 0.0348413
 0.626402  0.275391  0.729233  0.702621
        0         0         0         1
