2
 -0.941611   0.297669   0.157364 -0.0333167
 0.0968989   0.687159  -0.720016  -0.189858
  -0.32246  -0.662726   -0.67588   0.750415
         0          0          0          1
  -0.723032    0.671915    0.160485    0.159715
   0.374947    0.576813   -0.725742 -0.00838804
  -0.580206   -0.464561   -0.668987    0.605286
          0           0           0           1
