2
 -0.842491   0.538398 -0.0183447  -0.143868
   0.38413   0.576518   -0.72116  -0.100469
 -0.377695  -0.614617  -0.692526   0.780115
         0          0          0          1
 -0.505189   0.861502 -0.0509728   0.115739
    0.6104   0.314939  -0.726791 0.00268362
 -0.610078   -0.39828  -0.684965   0.659921
         0          0          0          1
