2
  0.198669  -0.977297  -0.073634 -0.0260005
  0.837345   0.130216    0.53094  0.0909182
 -0.509298  -0.167138   0.844204   0.805593
         0          0          0          1
  0.700659  -0.711763 -0.0497141   0.216718
  0.621695   0.574836   0.532033 -0.0551673
 -0.350104   -0.40368   0.845264    0.91047
         0          0          0          1
