2
  0.717222   0.696843 0.00162716  0.0842885
 -0.539791   0.554097   0.633721  0.0551904
  0.440703  -0.455397    0.77356   0.899935
         0          0          0          1
  0.323204   0.945616 -0.0367462  -0.207057
 -0.725812   0.272619   0.631566 -0.0192382
  0.607236  -0.177453   0.774451   0.955899
         0          0          0          1
