2
  0.417856   0.865012   0.277759  -0.155904
  0.679997 -0.0950283  -0.727031   0.024131
 -0.602496   0.492669  -0.627914   0.657974
         0          0          0          1
  0.810284   0.529288   0.251584  0.0364733
   0.51733  -0.444324    -0.7314 -0.0927489
 -0.275336   0.722793  -0.633845   0.868508
         0          0          0          1
