2
 -0.227713    0.97363  0.0138643  -0.137082
 -0.831227  -0.201784    0.51802 -0.0635833
  0.507157   0.106436   0.855256   0.878014
         0          0          0          1
 -0.721027   0.692787 -0.0128994  -0.374172
 -0.587678  -0.601559   0.541074  0.0929182
  0.367089    0.39771   0.840877   0.767931
         0          0          0          1
