2
-0.483051  0.843686  0.234213 -0.162744
 0.663981  0.527332 -0.530141 -0.108919
-0.570781 -0.100572  -0.81492  0.726034
        0         0         0         1
 0.0569644   0.977891   0.201209   0.138519
  0.827943  0.0663516  -0.556873 -0.0590451
 -0.557911   0.198312  -0.805858   0.763774
         0          0          0          1
