2
 -0.145564  -0.968995   0.199649  0.0162073
  0.850515 -0.0194742   0.525591  0.0382924
 -0.505407   0.246312   0.826979   0.822642
         0          0          0          1
  0.373221  -0.897406   0.235308   0.302185
  0.722064   0.440235   0.533682 -0.0673074
  -0.58252 -0.0292742   0.812289   0.806854
         0          0          0          1
