2
  0.589773  -0.790027  -0.167408 -0.0565157
  0.711644   0.410437    0.57018   0.115406
 -0.381747  -0.455412   0.804282   0.738403
         0          0          0          1
  0.920272  -0.365709  -0.139125  0.0892256
  0.375734   0.726737   0.575046 -0.0898685
 -0.109192  -0.581473   0.806205   0.906768
         0          0          0          1
