2
   0.619205    -0.78519 -0.00786915   0.0261323
   0.515763    0.399136    0.758076    0.126043
  -0.592093   -0.473463    0.652119    0.683584
          0           0           0           1
  0.837677  -0.541881 -0.0682738   0.152943
  0.411444   0.543891   0.731366 -0.0426307
  -0.35918   -0.64074   0.678559   0.903414
         0          0          0          1
