2
  0.782937  -0.611416   0.114804 -0.0317057
  0.436305   0.671223   0.599248   0.114285
 -0.443449  -0.419084   0.792289   0.853012
         0          0          0          1
  0.986925 -0.0973493   0.128462  0.0331287
0.00106493   0.800924   0.598765  -0.125038
 -0.161177  -0.590799   0.790556    1.01978
         0          0          0          1
