2
 -0.292145  -0.951763  0.0937987  -0.154252
  0.578525 -0.0977728   0.809784   0.118223
 -0.761551   0.290839   0.579183   0.763932
         0          0          0          1
 0.368975 -0.924994 0.0907991  0.140395
 0.531703  0.290197  0.795662 0.0651265
-0.762332 -0.245301  0.598897  0.806752
        0         0         0         1
