2
  0.655749   0.734163   0.176059  0.0989244
 -0.685184   0.480793    0.54714 -0.0599427
  0.317042   -0.47942   0.818317    0.79301
         0          0          0          1
  0.342422   0.927075   0.152571  -0.193381
  -0.81154   0.210016   0.545248 -0.0784473
  0.473444  -0.310523   0.824274    0.87304
         0          0          0          1
