2
  0.401973   0.875444   0.268357  -0.146176
  0.686325 -0.0940646  -0.721186  0.0313649
 -0.606116   0.474077  -0.638651   0.660799
         0          0          0          1
  0.805544   0.545114    0.23227  0.0494118
  0.517755  -0.456923  -0.723293 -0.0884819
 -0.288147   0.702903  -0.650307   0.865742
         0          0          0          1
