2
 0.907629  0.347904  -0.23489 0.0458208
 -0.19242  0.842127  0.503782 0.0533364
 0.373075  -0.41205  0.831282   0.90386
        0         0         0         1
  0.591428   0.760448    -0.2682  -0.165159
 -0.620752   0.641662   0.450485  -0.156511
  0.514664 -0.0999445   0.851547   0.955348
         0          0          0          1
