2
  0.800796  -0.598476  0.0235308 -0.0469442
  0.461898   0.642103   0.611844   0.100656
 -0.381283  -0.479093   0.790628   0.822726
         0          0          0          1
  0.996131  -0.084671  0.0235277  0.0175655
 0.0529768   0.792194   0.607966  -0.135623
-0.0701156  -0.604367   0.793615    0.99753
         0          0          0          1
