2
-0.477714  0.847386  0.231789 -0.149089
 0.665738  0.521336 -0.533856 -0.104314
-0.573222  -0.10072 -0.813187  0.733237
        0         0         0         1
0.0517343  0.980097  0.191658  0.152187
 0.824908 0.0662338 -0.561372 -0.055481
-0.562894  0.187143 -0.805064  0.769146
        0         0         0         1
