2
 -0.374464   0.927101 -0.0161508  -0.186417
 -0.779138  -0.305162   0.547559 -0.0354775
  0.502713   0.217625   0.836612   0.895844
         0          0          0          1
 -0.806557    0.59083 -0.0196707  -0.391678
 -0.491954  -0.652384   0.576521   0.137276
  0.327793   0.474674   0.816846   0.762575
         0          0          0          1
