2
  0.588355   0.805937     0.0656 -0.0694663
  0.692978  -0.460757  -0.554512   0.135085
 -0.416676    0.37171  -0.829585   0.744144
         0          0          0          1
   0.92463   0.379537  0.0318193  0.0775981
  0.332302  -0.763083  -0.554328 -0.0840866
 -0.186107   0.523122   -0.83169   0.892237
         0          0          0          1
