2
  0.537512   -0.81816  -0.204192 -0.0840309
  0.724311   0.323958   0.608625   0.159615
 -0.431803  -0.475042   0.766734   0.729209
         0          0          0          1
  0.894134  -0.415054  -0.168093  0.0789419
  0.424335   0.665405   0.614146 -0.0246474
 -0.143054  -0.620457   0.771083   0.908619
         0          0          0          1
