2
  0.989101  0.0841789   0.120801   0.128553
  -0.14349   0.735037    0.66267  0.0589881
-0.0330106  -0.672781   0.739105   0.689393
         0          0          0          1
  0.846787   0.521739   0.103635 -0.0224148
 -0.456095   0.611888   0.646197  -0.114105
  0.273733  -0.594458   0.756101   0.890318
         0          0          0          1
