2
 -0.328163  -0.938482   0.107519  -0.129083
  0.539308 -0.0926906   0.836992   0.111422
 -0.775536   0.332655   0.536548    0.73917
         0          0          0          1
 0.369154 -0.924611 0.0939124  0.166057
 0.484402  0.277663  0.829613 0.0621897
-0.793146 -0.260764  0.550384  0.775855
        0         0         0         1
