2
 -0.502354  -0.789855  -0.351811  -0.230385
  0.586545  -0.610237   0.532519 -0.0839449
   -0.6353  0.0611597    0.76984   0.756397
         0          0          0          1
 0.0017959  -0.948315  -0.317326  0.0607364
  0.809644  -0.184866   0.557047 0.00369611
 -0.586919  -0.257921   0.767465   0.814138
         0          0          0          1
