2
 -0.507431   -0.85177  -0.130392  -0.162372
  0.673713  -0.486509   0.556255 -0.0197373
 -0.537238   0.194414   0.820718    0.81974
         0          0          0          1
 0.0297504  -0.994303  -0.102352   0.143483
  0.815313 -0.0350991   0.577956  0.0200217
 -0.578256  -0.100644   0.809624   0.822874
         0          0          0          1
