2
  0.456899   0.869285   0.188644 -0.0517413
  0.761262  -0.272423  -0.588444   0.103874
 -0.460134   0.412467  -0.786224   0.667623
         0          0          0          1
  0.852515   0.497792    0.15944   0.130833
  0.484826  -0.639055   -0.59712 -0.0736326
 -0.195351   0.586355  -0.786147    0.83395
         0          0          0          1
