2
  0.799701  -0.600375 0.00542423 -0.0549726
  0.480886   0.645899   0.592929  0.0753331
 -0.359483  -0.471557   0.805237   0.814108
         0          0          0          1
   0.99709 -0.0759027 0.00709732 0.00630095
 0.0568503   0.802364   0.594122   -0.16184
-0.0507901  -0.591989   0.804344   0.984031
         0          0          0          1
