2
  0.590201   0.804804  0.0628778 -0.0724431
  0.686431  -0.459349  -0.563747   0.140302
 -0.424823   0.375885  -0.823551   0.750481
         0          0          0          1
  0.931178   0.363509  0.0277108  0.0672417
  0.315267  -0.764765   -0.56191 -0.0812301
 -0.183067   0.531974  -0.826735   0.901864
         0          0          0          1
