2
 -0.926623   0.371881  0.0554478  0.0508596
 -0.200493  -0.613463    0.76385 -0.0780299
  0.318076   0.696684   0.643008   0.936285
         0          0          0          1
 -0.96583 -0.227858  0.123502 0.0885647
 0.239055  -0.59912  0.764139  0.107525
-0.100123  0.767552  0.633119  0.695266
        0         0         0         1
