2
  0.98918 -0.103247  0.104224   0.19202
0.0186003  0.792956  0.608994  0.113403
-0.145522 -0.600466  0.786297  0.727441
        0         0         0         1
   0.97817   0.207514  0.0109916   0.083201
 -0.169528   0.766288   0.619729 -0.0993918
   0.12018  -0.608064   0.784739   0.918406
         0          0          0          1
