2
  0.998236 -0.0300193  0.0512249  0.0501167
-0.0179778   0.669439   0.742649  0.0553543
-0.0565858   -0.74226   0.667719    0.72185
         0          0          0          1
   0.905041    0.425321 -0.00198935  -0.0891416
  -0.286506      0.6131    0.736222   -0.107978
   0.314351    -0.66574    0.676737     0.93706
          0           0           0           1
