2
  0.814615   0.579928  0.0092549    0.20059
  -0.41517   0.571892   0.707512 -0.0897391
  0.405013  -0.580193   0.706641   0.854059
         0          0          0          1
  0.403853   0.914251  0.0323708 -0.0767484
 -0.661805   0.267544   0.700311  -0.149263
  0.631599  -0.304246   0.713104   0.951619
         0          0          0          1
