2
 -0.992388  0.0198814   0.121541  -0.227922
-0.0348488   0.901218  -0.431963  -0.187199
 -0.118122   -0.43291  -0.893665   0.771666
         0          0          0          1
 -0.843867   0.523998   0.115392 -0.0971895
  0.418499   0.777383   -0.46961  0.0533912
 -0.335779  -0.347996    -0.8753   0.655959
         0          0          0          1
