2
 -0.194549  -0.965859   0.171076  0.0179459
  0.843347 -0.0756381    0.53202  0.0249181
 -0.500917    0.24778   0.829269    0.81078
         0          0          0          1
  0.337355   -0.91808   0.208135   0.308226
  0.744274   0.395498    0.53818 -0.0692694
 -0.576409 -0.0266481   0.816727   0.796028
         0          0          0          1
