2
  0.370262   0.922402   0.109916   0.120905
 -0.660207   0.178064   0.729671 -0.0366477
  0.653477  -0.342737   0.674907   0.920452
         0          0          0          1
-0.251891  0.965517 0.0657951 -0.183153
 -0.63535 -0.216272  0.741321 0.0170383
 0.729987  0.144929  0.667919  0.897282
        0         0         0         1
