2
  0.623789   0.768096   0.144621    0.13017
  -0.61945   0.373011   0.690757 0.00323126
  0.476622  -0.520472   0.708477   0.834404
         0          0          0          1
  0.545745   0.835185  0.0680324   -0.17296
 -0.575865   0.314835   0.754492 0.00216752
  0.608722  -0.450938   0.652773   0.899932
         0          0          0          1
