2
 -0.940487   0.150574    0.30465  -0.228615
-0.0566762   0.814423  -0.577497  -0.144671
  -0.33507  -0.560395   -0.75742   0.768286
         0          0          0          1
 -0.732965   0.615448   0.289804 -0.0693958
  0.353588   0.708623  -0.610597  0.0766016
 -0.581152  -0.345074  -0.737011    0.64379
         0          0          0          1
