2
 -0.477951  -0.874477 -0.0827734   0.238072
 -0.530996   0.362708  -0.765824  -0.162229
  0.699719  -0.322074    -0.6377   0.922693
         0          0          0          1
  -0.823605   -0.560959  -0.0836631   0.0521652
  -0.304945    0.562356   -0.768612 0.000145523
   0.478208   -0.607521   -0.634221    0.754999
          0           0           0           1
