2
 0.0958893   0.984785   0.144925 -0.0460569
  0.935333 -0.0393353  -0.351575 -0.0828299
 -0.340525   0.169265  -0.924874   0.644302
         0          0          0          1
 0.637272  0.768248 0.0606565  0.186672
 0.735842 -0.583224 -0.344074 -0.203621
-0.228958  0.263902 -0.936981  0.722282
        0         0         0         1
