2
  -0.90303   0.429415  0.0118285  -0.129529
   0.33872   0.728699  -0.595203 -0.0720181
 -0.264209  -0.533479  -0.803489   0.841603
         0          0          0          1
  -0.551755    0.833988 -0.00562372    0.106381
   0.655657    0.429587   -0.620942    0.072016
  -0.515442   -0.346295   -0.783836    0.716111
          0           0           0           1
