2
 -0.271131  -0.957119   0.102035  -0.145451
  0.545221 -0.0653539   0.835741  0.0851429
 -0.793235   0.282227   0.539561   0.711433
         0          0          0          1
 0.343178 -0.934457 0.0949705  0.149116
  0.47805  0.260804  0.838719 0.0346941
-0.808515 -0.242429  0.536219  0.749794
        0         0         0         1
