2
  0.198669   0.977297  0.0736339 -0.0164706
  0.837345  -0.130216   -0.53094  0.0576625
 -0.509298   0.167138  -0.844204   0.752574
         0          0          0          1
  0.700659   0.711763   0.049714   0.223994
  0.621695  -0.574836  -0.532033 -0.0908461
 -0.350104    0.40368  -0.845264    0.85868
         0          0          0          1
