2
  0.790055   0.593744   -0.15258   0.205725
  -0.44423   0.726008    0.52495 -0.0150622
   0.42246  -0.346959   0.837346   0.769119
         0          0          0          1
  0.352739   0.917364   -0.18444 -0.0596303
 -0.777864   0.397038   0.487123  -0.163674
  0.520098 -0.0283587   0.853635   0.797301
         0          0          0          1
