2
  0.839779  -0.522726   0.146727 -0.0276971
  0.365928   0.744586   0.558291  0.0885158
 -0.401085  -0.415149   0.816568   0.851569
         0          0          0          1
  0.989597   0.016637   0.142902 0.00558423
-0.0942312   0.825526   0.556442  -0.160555
 -0.108712  -0.564119   0.818506    1.01167
         0          0          0          1
