2
  0.159686   0.966368  -0.201576  -0.069689
  0.810929  -0.244857   -0.53145 -0.0087691
 -0.562933 -0.0785985  -0.822757   0.775551
         0          0          0          1
 0.643314  0.728312 -0.236024  0.172522
 0.548933 -0.653687 -0.520928 -0.184111
-0.533684  0.205559 -0.820321  0.820143
        0         0         0         1
