2
  0.968196  -0.172784   0.180949   0.143976
0.00200265   0.728566   0.684973   0.103717
 -0.250185  -0.662826   0.705741   0.666003
         0          0          0          1
  0.898218   0.390401   0.201969  0.0605594
 -0.417281   0.612966   0.670932 -0.0824134
  0.138132  -0.686921   0.713484   0.893491
         0          0          0          1
