2
  0.724416  -0.688894   0.025424 -0.0665887
  0.511976    0.56234    0.64935    0.13466
  -0.46163  -0.457383   0.760065    0.86216
         0          0          0          1
  0.977343   -0.20879  0.0347443  0.0323039
  0.138602   0.755374   0.640469 -0.0870665
 -0.159969  -0.621142   0.767198    1.04063
         0          0          0          1
