2
  0.533912   0.844585 -0.0401682  0.0124034
 -0.489136   0.347264   0.800096 -0.0462146
  0.689698  -0.407533   0.598526   0.919074
         0          0          0          1
  0.136992   0.990547 -0.0070384  -0.283373
 -0.638443  0.0937239   0.763942 -0.0456682
   0.75738   -0.10016   0.645247   0.938906
         0          0          0          1
