2
 -0.477714  -0.847386  -0.231789   -0.16727
  0.665738  -0.521336   0.533856 -0.0738086
 -0.573222    0.10072   0.813187   0.785648
         0          0          0          1
 0.0517343  -0.980097  -0.191658   0.135349
  0.824908 -0.0662339   0.561372 -0.0212302
 -0.562894  -0.187143   0.805064   0.819655
         0          0          0          1
