2
  0.589773   0.790027   0.167408 -0.0415536
  0.711644  -0.410437   -0.57018   0.078201
 -0.381747   0.455412  -0.804282   0.689416
         0          0          0          1
 0.920272  0.365709  0.139125   0.10072
 0.375734 -0.726737 -0.575046 -0.129245
-0.109192  0.581473 -0.806205  0.858548
        0         0         0         1
