2
  0.945895   0.152034   0.286649   0.194618
 -0.310069   0.683824   0.660487   0.101728
-0.0956009  -0.713632   0.693967   0.671199
         0          0          0          1
  0.766273   0.590894    0.25233  0.0294371
 -0.578715    0.46412   0.670583 -0.0393753
  0.279131  -0.659877   0.697602   0.889986
         0          0          0          1
