2
 -0.740123 -0.0954609   0.665662   0.133538
  0.616994  -0.490101   0.615727  0.0322571
  0.267464   0.866423   0.421634   0.926097
         0          0          0          1
  -0.887577 -0.00281669    0.460652     0.14377
   0.382638   -0.561323    0.733829    0.187669
   0.256507    0.827592    0.499295    0.666021
          0           0           0           1
