2
  0.612362   0.786576 -0.0794419   0.112874
  0.514423  -0.472745  -0.715459  0.0889084
 -0.600319   0.397253  -0.694124   0.628471
         0          0          0          1
  0.834193    0.55075 -0.0282072   0.229394
  0.368653   -0.59496  -0.714226  -0.115228
 -0.410142   0.585404  -0.699347   0.818002
         0          0          0          1
