2
 -0.996043   0.082576  0.0328516  -0.245281
 0.0584518   0.887161  -0.457744   -0.12497
-0.0669433  -0.454012  -0.888477   0.782363
         0          0          0          1
-0.828354  0.559899 0.0185228 -0.101044
 0.478132  0.723839 -0.497439  0.102936
-0.291923 -0.403199 -0.867301  0.650699
        0         0         0         1
