2
  0.537512    0.81816   0.204192 -0.0666671
  0.724311  -0.323958  -0.608625    0.12041
 -0.431803   0.475042  -0.766734   0.682634
         0          0          0          1
  0.894134   0.415054   0.168093  0.0924735
  0.424335  -0.665405  -0.614146 -0.0661471
 -0.143054   0.620457  -0.771083   0.862767
         0          0          0          1
