2
  0.623303   0.778882  -0.069546  0.0830859
 -0.485695   0.455306   0.746188 -0.0430714
  0.612857  -0.431323   0.662093   0.953052
         0          0          0          1
  0.949548  -0.311373  0.0374975  -0.190296
  0.118161   0.465939   0.876892 -0.0798793
 -0.290512   -0.82822   0.479223    0.88217
         0          0          0          1
