2
  0.994169  -0.100481  0.0391258  0.0612183
 0.0408395   0.686688   0.725804  0.0422547
-0.0997967  -0.719975   0.686788   0.744297
         0          0          0          1
    0.948698     0.316182 -0.000535899   -0.0656075
   -0.217117     0.652687     0.725851    -0.129673
    0.229851    -0.688497     0.687852      0.95756
           0            0            0            1
