2
  0.813505  -0.562511   0.147618 -0.0298194
  0.391412   0.717325   0.576404  0.0991299
 -0.430124  -0.411128   0.803721   0.857866
         0          0          0          1
  0.987941 -0.0528548   0.145528  0.0186326
-0.0416757   0.814456   0.578728  -0.146371
 -0.149115  -0.577814   0.802432    1.02123
         0          0          0          1
