2
  0.331239   0.933056   0.140308 -0.0465101
  0.815816  -0.208503  -0.539416    0.14385
 -0.474051   0.293142  -0.830267   0.710153
         0          0          0          1
  0.784965   0.606545   0.126224   0.169718
  0.567125  -0.621468  -0.540507 -0.0253149
 -0.249397   0.495864  -0.831818   0.844551
         0          0          0          1
