2
  0.159686  -0.966368   0.201576 -0.0617538
  0.810929   0.244857    0.53145  0.0250969
 -0.562933  0.0785984   0.822757   0.828448
         0          0          0          1
 0.643314 -0.728312  0.236024  0.183262
 0.548933  0.653687  0.520928 -0.148681
-0.533684 -0.205559  0.820321  0.871496
        0         0         0         1
