2
  0.994342  0.0108097   0.105675   0.131628
-0.0805759    0.72501    0.68401  0.0998292
-0.0692216  -0.688654   0.721778   0.684928
         0          0          0          1
  0.935931    0.35123  0.0259015 -0.0152643
 -0.265845   0.656331   0.706085 -0.0719489
  0.230998  -0.667732   0.707654   0.890396
         0          0          0          1
