2
  0.945812  -0.300105     -0.124  -0.119739
  0.313359   0.743466   0.590817  0.0936074
-0.0851171  -0.597658    0.79722   0.730207
         0          0          0          1
 0.955875  0.271258 -0.112795 -0.153158
 -0.16168  0.806322   0.56895 -0.153641
 0.245281 -0.525608    0.8146  0.897243
        0         0         0         1
