2
  0.320117   0.902678   0.287572  -0.151047
  0.791262 -0.0878232  -0.605138 -0.0298332
 -0.520989    0.42126  -0.742368   0.677672
         0          0          0          1
 0.750341  0.613364   0.24652 0.0630587
 0.610271 -0.499399 -0.614956 -0.158291
 -0.25408  0.611871 -0.749038  0.855498
        0         0         0         1
