2
  0.821251  -0.569686 -0.0316874 -0.0267108
  0.484569   0.667073   0.565869   0.101021
  -0.30123  -0.480075   0.823887   0.791571
         0          0          0          1
   0.998613  -0.0482686  -0.0210206   0.0227951
  0.0517164    0.824634    0.563298   -0.145083
-0.00985529   -0.563604    0.825987    0.956141
          0           0           0           1
