2
  0.815363  -0.561767   0.140003 -0.0337896
   0.39126   0.712917    0.58195   0.100023
 -0.426731  -0.419723   0.801083   0.857676
         0          0          0          1
  0.989816 -0.0168209   0.141354  0.0163215
-0.0689577   0.812049   0.579501  -0.144566
 -0.124534  -0.583347    0.80262    1.02175
         0          0          0          1
