2
 -0.380459  -0.904743  -0.191549  -0.136677
  0.773539  -0.424847   0.470259 0.00172997
 -0.506842  0.0307432    0.86149   0.767255
         0          0          0          1
 0.141896 -0.977327 -0.157156  0.169289
 0.870978  0.047825   0.48899 0.0186881
-0.470387 -0.206265  0.858016  0.810986
        0         0         0         1
