2
 -0.180144  -0.967511   0.177399  0.0144884
  0.844462 -0.0596348   0.532286  0.0303835
 -0.504413   0.245695   0.827769   0.813447
         0          0          0          1
  0.351254  -0.912829    0.20824   0.303281
  0.736363   0.406701   0.540707   -0.06699
 -0.578264 -0.0365853   0.815029   0.800335
         0          0          0          1
