2
 -0.226966  -0.961796   0.153087 0.00236063
  0.852266   -0.12008    0.50914 -0.0152334
 -0.471306   0.246028    0.84696   0.809918
         0          0          0          1
  0.308016   -0.93328   0.184702   0.295189
  0.777539   0.358818   0.516414  -0.097061
 -0.548233 -0.0154515   0.836183   0.792518
         0          0          0          1
