2
 -0.587105   0.132737  -0.798554  0.0591261
  0.711991    0.55407  -0.431365 -0.0771425
  0.385197   -0.82182  -0.419805   0.874293
         0          0          0          1
 -0.74257  0.230401 -0.628893  0.109557
 0.640219  0.520002 -0.565435  0.101012
 0.196749 -0.822504 -0.533646  0.634001
        0         0         0         1
