2
 -0.691607  -0.701001   0.174005 -0.0941362
  0.601429  -0.425527   0.676173 -0.0322151
 -0.399954   0.572297     0.7159   0.853898
         0          0          0          1
  -0.159983     -0.9696     0.18515    0.193577
   0.742773  0.00529158    0.669523 -0.00650436
  -0.650149    0.244637    0.719346    0.759658
          0           0           0           1
