2
  0.989245  0.0854711   0.118695  0.0687343
 -0.143052   0.734567   0.663286  0.0467073
-0.0304978  -0.673132   0.738893   0.683039
         0          0          0          1
  0.897114   0.437692  0.0600984 -0.0979473
 -0.362119   0.650555   0.667569  -0.117714
  0.253092  -0.620648   0.742119   0.878485
         0          0          0          1
