2
 -0.215667    0.92205  -0.321423 0.00912075
 -0.813324  0.0125343   0.581676 -0.0880269
  0.540363   0.386869   0.747222   0.962272
         0          0          0          1
  -0.642843    0.692505   -0.327399   -0.235693
  -0.711575   -0.381646    0.589922 -0.00412518
   0.283573    0.612196    0.738108    0.794275
          0           0           0           1
