2
  0.498036   0.866018  0.0444203  0.0302921
  0.610375  -0.313712  -0.727342 -0.0314229
 -0.615956   0.389356  -0.684836   0.665087
         0          0          0          1
 0.829931  0.556431 0.0399876  0.207585
 0.419756 -0.575647 -0.701737 -0.181926
 -0.36745  0.599179 -0.711312  0.854212
        0         0         0         1
