2
 -0.842809   0.538111 -0.0104662  -0.144504
  0.377329   0.576897   -0.72444 -0.0984781
 -0.383791  -0.614513  -0.689259    0.78032
         0          0          0          1
 -0.508838   0.858934 -0.0575964   0.116551
   0.61161   0.313615  -0.726347 0.00222856
 -0.605821  -0.404819  -0.684911   0.661294
         0          0          0          1
