2
  0.893088  -0.385763  -0.231474  0.0562043
  0.444068   0.673458    0.59098  0.0967931
-0.0720902  -0.630588   0.772763   0.661208
         0          0          0          1
  0.953684 -0.0280336    -0.2995   0.018352
  0.206374   0.785352   0.583637  -0.135974
  0.218852  -0.618414   0.754764   0.850203
         0          0          0          1
