2
 -0.982429  0.0983187  -0.158641  -0.102175
  0.164795   0.855981  -0.490041 -0.0832652
 0.0876135  -0.507573  -0.857143   0.852414
         0          0          0          1
-0.775507  0.611293 -0.157833 0.0558205
  0.59293  0.619331 -0.514648  0.118189
 -0.21685 -0.492697 -0.842749  0.689146
        0         0         0         1
