2
  0.783046  -0.621247  0.0298524 -0.0459524
  0.488556    0.64408    0.58862   0.119067
 -0.384906  -0.446332   0.807858   0.856442
         0          0          0          1
  0.993892 -0.0971741  0.0523067  0.0227094
 0.0491868   0.814355   0.578279  -0.120839
  -0.09879  -0.572174   0.814161    1.02379
         0          0          0          1
