2
 -0.397672   0.898941   0.183743  -0.135379
  0.751803   0.434043  -0.496386  -0.120028
 -0.525974 -0.0592606  -0.848434   0.739293
         0          0          0          1
  0.139207   0.979431   0.146067   0.167751
  0.852043 -0.0433007  -0.521677  -0.106283
 -0.504622   0.197077  -0.840546   0.781537
         0          0          0          1
