2
  0.538452   0.753884   0.376468   0.151581
  -0.78373   0.283907   0.552417 -0.0250509
  0.309576  -0.592499   0.743712   0.767264
         0          0          0          1
 0.363532  0.875342  0.318779 -0.133227
-0.776018 0.0952248  0.623481 0.0239287
 0.515404 -0.474033  0.713898  0.883331
        0         0         0         1
