2
  0.985602   0.126781   0.111872   0.138323
 -0.169033   0.722986   0.669865  0.0379961
0.00404415   -0.67913   0.734007    0.69607
         0          0          0          1
   0.78544   0.610743   0.100383 -0.0171899
 -0.520265   0.563627   0.641599  -0.134978
  0.335274  -0.556163   0.760444   0.896092
         0          0          0          1
