2
  0.533069  -0.845964 -0.0134844  0.0478826
  0.579601   0.353522   0.734224  0.0719724
 -0.616361  -0.399207   0.678774   0.693155
         0          0          0          1
  0.751139  -0.654821 -0.0836572   0.198316
  0.521384   0.510741   0.683596 -0.0958379
 -0.404906  -0.557093   0.725051   0.895599
         0          0          0          1
