2
 -0.587105  -0.132737   0.798554   0.129034
  0.711991   -0.55407   0.431365 -0.0393499
  0.385197    0.82182   0.419805   0.910648
         0          0          0          1
 -0.74257 -0.230401  0.628893  0.164694
 0.640219 -0.520002  0.565435  0.150519
 0.196749  0.822504  0.533646  0.680329
        0         0         0         1
