2
-0.271131  0.957119 -0.102035 -0.154732
 0.545221 0.0653538 -0.835741 0.0121582
-0.793235 -0.282227 -0.539561  0.664274
        0         0         0         1
  0.343178   0.934457 -0.0949706   0.140541
   0.47805  -0.260804  -0.838719 -0.0384474
 -0.808515   0.242429  -0.536219   0.702746
         0          0          0          1
