2
  0.736955    0.65184    0.17889 -0.0732269
  0.622019  -0.550401  -0.556912  0.0482842
 -0.264556   0.521692  -0.811078   0.694781
         0          0          0          1
 0.974624  0.149287  0.166798 0.0104572
 0.217609 -0.806571 -0.549627 -0.184695
0.0524824  0.571976  -0.81859  0.866104
        0         0         0         1
