2
  0.983404  -0.175085 -0.0475634   0.123591
   0.16886   0.787369   0.592906   0.132039
-0.0663592  -0.591097   0.803866   0.702473
         0          0          0          1
  0.941982   0.329788 -0.0625217  0.0458864
 -0.234961    0.78086   0.578835  -0.103481
  0.239714  -0.530563   0.813044   0.881301
         0          0          0          1
