2
 -0.281604  -0.955638   0.086348  -0.157679
   0.56504 -0.0924231   0.819871  0.0263096
 -0.775519   0.279668      0.566   0.687512
         0          0          0          1
  0.336638  -0.937601  0.0870595   0.137207
  0.518686   0.261803   0.813894 -0.0216232
 -0.785901  -0.228831   0.574453   0.727522
         0          0          0          1
