2
-0.349475 -0.923856  0.156068 0.0338531
-0.808448  0.213139 -0.548619  -0.29101
 0.473581 -0.317902 -0.821377   0.88177
        0         0         0         1
-0.771896 -0.601393  0.206164 -0.172047
-0.601447  0.585705 -0.543333 -0.143789
 0.206005 -0.543394 -0.813809  0.717128
        0         0         0         1
