2
   0.81572  -0.561392   0.139428 -0.0256586
  0.398655   0.720257   0.567719   0.099263
 -0.419137  -0.407516   0.811329    0.85562
         0          0          0          1
  0.987209 -0.0362897   0.155249  0.0228548
-0.0594342   0.819796   0.569563  -0.147133
 -0.147942  -0.571505   0.807153    1.01688
         0          0          0          1
