2
  0.836975    0.53227  -0.127128   0.160875
 -0.455959   0.806746   0.375849 0.00219896
  0.302613  -0.256611   0.917919   0.790002
         0          0          0          1
  0.421492   0.893298  -0.156086  -0.095251
 -0.828707   0.449322   0.333698  -0.159038
  0.368224 -0.0113013   0.929668   0.809774
         0          0          0          1
