2
  0.754403   0.638774  -0.151144   0.187562
 -0.488018   0.699792   0.521661 -0.0295087
  0.438993  -0.319781   0.839658   0.769207
         0          0          0          1
  0.297772   0.936725  -0.184062 -0.0863035
 -0.802434   0.350047   0.483286  -0.164476
  0.517137 0.00378883   0.855894   0.785804
         0          0          0          1
