2
  0.374226   0.877227   0.300713  -0.163692
  0.723754 -0.0735507  -0.686127 -0.0143482
 -0.579772   0.474409  -0.662421   0.655088
         0          0          0          1
 0.780851  0.566991  0.262283 0.0364694
 0.561912 -0.453982 -0.691488 -0.129717
-0.272996  0.687329 -0.673091  0.857305
        0         0         0         1
