2
 0.0790242  -0.985755   0.148465 -0.0505433
  0.629409    0.16483   0.759391  0.0195529
 -0.773045   0.033435   0.633469    0.74411
         0          0          0          1
  0.844008  -0.483732   0.231635   0.223555
  0.151353   0.629154   0.762403 -0.0871476
 -0.514532  -0.608415   0.604225   0.842225
         0          0          0          1
