2
  0.949163   0.131673  -0.285925 -0.0679127
  0.134402   0.651844   0.746349   0.137614
  0.284652  -0.746835   0.601009   0.673394
         0          0          0          1
  0.740571   0.610854   -0.28002  -0.218719
 -0.267512   0.650269   0.711047 -0.0647554
  0.616434  -0.451672   0.644982    0.83768
         0          0          0          1
