2
-0.857452 -0.434124  0.276246 0.0369449
-0.502411  0.590341 -0.631729 -0.159947
 0.111169 -0.680467 -0.724298  0.847662
        0         0         0         1
 -0.971356  0.0963525   0.217217  0.0365408
-0.0726829   0.749827   -0.65763  0.0654173
  -0.22624  -0.654581  -0.721346   0.643416
         0          0          0          1
