2
 -0.34545  0.897085  0.275505 -0.156813
 0.799081  0.435128  -0.41489 -0.179736
-0.492071 0.0768273 -0.867158  0.702519
        0         0         0         1
  0.174812   0.954252   0.242579   0.141154
  0.900669 -0.0554437  -0.430955  -0.164796
  -0.39779   0.293819  -0.869157   0.779712
         0          0          0          1
