2
  0.808383   0.587341  0.0393464   0.124793
 -0.473677   0.609346   0.635868 -0.0134822
  0.349496  -0.532662   0.770795    0.85187
         0          0          0          1
  0.362482   0.931969 0.00637138  -0.142751
 -0.757957   0.290809   0.583893  -0.123906
  0.542318   -0.21648   0.811805   0.942232
         0          0          0          1
