2
 -0.934792   0.294895  -0.197995  -0.138229
 -0.353494  -0.826889   0.437375   -0.22198
-0.0347399   0.478844   0.877212   0.879365
         0          0          0          1
-0.952212 -0.226557 -0.204852  -0.10405
 0.106313 -0.874585  0.473074 0.0384707
-0.286338  0.428689  0.856876  0.738145
        0         0         0         1
