2
 -0.245638   0.961655    0.12199  -0.212206
  0.909342   0.272191  -0.314657 -0.0353291
 -0.335796  0.0336392  -0.941334   0.673902
         0          0          0          1
  0.340888   0.937002  0.0763098  0.0872802
  0.893877  -0.297916  -0.335008 -0.0946852
 -0.291169   0.182412   -0.93912   0.716862
         0          0          0          1
