2
  0.971215   0.233563 -0.0467951  0.0125005
 -0.155331   0.769914   0.618955   0.102248
  0.180593   -0.59387   0.784031   0.749186
         0          0          0          1
  0.714775   0.696152 -0.0668486  -0.176672
 -0.543766    0.61332    0.57285 -0.0971304
  0.439791  -0.373109    0.81693   0.880616
         0          0          0          1
