2
  0.166504   0.959361   0.227823 -0.0986503
  0.844283 -0.0193531  -0.535549    0.01293
 -0.509375   0.281518  -0.813194    0.67781
         0          0          0          1
  0.64371  0.738871  0.199267  0.148316
 0.701486  -0.46563 -0.539542 -0.105147
-0.305867  0.487092 -0.818039  0.813948
        0         0         0         1
