2
  0.850558  -0.507588   0.137497 -0.0435143
  0.353076   0.744966   0.566007  0.0953323
 -0.389729  -0.432875   0.812853   0.847195
         0          0          0          1
  0.989075  0.0299055   0.144348 -0.0181316
 -0.105954   0.825028   0.555071  -0.153085
 -0.102491  -0.564301   0.819183     1.0107
         0          0          0          1
