2
 -0.380459   0.904743   0.191549  -0.120659
  0.773539   0.424847  -0.470259 -0.0251094
 -0.506842 -0.0307433   -0.86149   0.712203
         0          0          0          1
  0.141896   0.977327   0.157156   0.184031
  0.870978  -0.047825   -0.48899 -0.0114912
 -0.470387   0.206265  -0.858016   0.757322
         0          0          0          1
