2
  0.381155  -0.922853   0.055353 0.00436301
  0.576531   0.284069   0.766105   0.104962
 -0.722726  -0.260092   0.640328    0.78805
         0          0          0          1
  0.714783  -0.693068  0.0934988   0.239448
   0.40981   0.523431   0.747045 -0.0323378
 -0.566693  -0.495658   0.658166   0.933151
         0          0          0          1
