2
  0.578694   -0.79116  -0.197941 -0.0857319
  0.710628   0.370082    0.59837   0.156143
 -0.400152  -0.486935   0.776385   0.732895
         0          0          0          1
  0.913214  -0.373789  -0.162238  0.0642169
  0.390686    0.69006   0.609247 -0.0393539
 -0.115776  -0.619757   0.776207   0.912136
         0          0          0          1
