2
 -0.400641   0.893427   0.203162   -0.15432
  0.736035   0.445886  -0.509351   -0.11399
 -0.545655 -0.0545323  -0.836234   0.733606
         0          0          0          1
   0.13637   0.976839    0.16489   0.148608
  0.846661 -0.0285019  -0.531368 -0.0943095
 -0.514361   0.212069  -0.830939   0.779219
         0          0          0          1
