2
  0.992408  0.0614675   0.106528  0.0764211
 -0.113637   0.789562   0.603057  0.0340417
-0.0470417  -0.610584   0.790553     0.6884
         0          0          0          1
  0.804828   0.586173  0.0930174 -0.0770018
 -0.518142   0.617512   0.591784  -0.155578
  0.289449   -0.52448   0.800712   0.865124
         0          0          0          1
