2
   0.883012   0.0768885    0.463009 -0.00546983
   0.321545   -0.817722   -0.477431   0.0887497
   0.341904    0.570455   -0.746781    0.716681
          0           0           0           1
  0.801187  -0.380914   0.461524 -0.0968969
 -0.166304  -0.882593  -0.439741  -0.180549
  0.574841   0.275561   -0.77047   0.816289
         0          0          0          1
