2
 -0.287304   -0.95455  0.0793163  -0.139906
   0.47189 -0.0689968   0.878953  0.0913532
 -0.833532   0.289956   0.470266   0.708703
         0          0          0          1
 0.357249 -0.928601  0.100369  0.159122
 0.473618  0.272726  0.837441 0.0515321
-0.805021 -0.251638  0.537234  0.758735
        0         0         0         1
