2
   0.53144   0.782319   0.324882   0.120893
 -0.786557   0.313342   0.532114 -0.0608025
  0.314484  -0.538325   0.781861   0.776794
         0          0          0          1
  0.142306   0.945353   0.293354  -0.165935
 -0.844607 -0.0385642   0.533996 -0.0334763
  0.516128   -0.32376   0.792964   0.883662
         0          0          0          1
