2
  0.588355  -0.805937 -0.0656001 -0.0780766
  0.692978   0.460757   0.554512   0.171561
 -0.416676   -0.37171   0.829585   0.795163
         0          0          0          1
   0.92463  -0.379537 -0.0318193  0.0728061
  0.332302   0.763083   0.554328 -0.0457983
 -0.186107  -0.523122    0.83169   0.942427
         0          0          0          1
