2
  0.797882  -0.602168  0.0278823 -0.0463299
  0.465354   0.644683    0.60649   0.096287
 -0.383184  -0.470932   0.794603   0.822118
         0          0          0          1
  0.996315 -0.0820098   0.025118  0.0158696
 0.0502724   0.795642   0.603679  -0.140521
-0.0694924  -0.600191   0.796832   0.995959
         0          0          0          1
