2
 -0.145564   0.968995  -0.199649  0.0080878
  0.850515  0.0194742  -0.525591 0.00610334
 -0.505407  -0.246312  -0.826979   0.768737
         0          0          0          1
 0.373221  0.897406 -0.235308  0.292014
 0.722064 -0.440235 -0.533682  -0.10234
 -0.58252 0.0292741 -0.812289  0.755113
        0         0         0         1
