2
 -0.480957   0.830435   0.281175  -0.184554
  0.645458   0.552418  -0.527464  -0.115857
 -0.593351 -0.0722009  -0.801699   0.714214
         0          0          0          1
  0.038548    0.97069   0.237224   0.111997
   0.82284   0.103862  -0.558702 -0.0554039
 -0.566964   0.216734  -0.794719   0.761603
         0          0          0          1
