2
 -0.946433   0.108542   0.304112  -0.220424
-0.0892718   0.817146  -0.569475  -0.170277
 -0.310315  -0.566119  -0.763685   0.777924
         0          0          0          1
 -0.760792    0.57863   0.293909 -0.0719047
  0.324785   0.731532  -0.599479  0.0553074
  -0.56188  -0.360622  -0.744474   0.650067
         0          0          0          1
