2
  0.659702   0.751517 0.00391014   0.169117
 -0.571688   0.498453   0.651704  -0.150555
  0.487817  -0.432166   0.758464   0.903669
         0          0          0          1
  0.303453   0.950191 -0.0710917    -0.1303
 -0.635441   0.257401   0.727983  -0.202708
  0.710022  -0.175734   0.681899   0.915456
         0          0          0          1
