2
  0.992675  0.0424853   0.113098   0.132261
 -0.108255   0.728404   0.676542  0.0879444
-0.0536379   -0.68383   0.727668   0.685405
         0          0          0          1
   0.845784    0.522869      0.1061 -0.00609352
  -0.450805    0.594016    0.666274  -0.0892231
   0.285349   -0.611354    0.738121     0.89204
          0           0           0           1
