2
 -0.167033   0.984027 -0.0615796  0.0333479
 -0.861619  -0.115324    0.49428  -0.192583
  0.479283   0.135619   0.867119   0.987053
         0          0          0          1
  -0.66685   0.736503  -0.113467  -0.214839
 -0.682029  -0.541862   0.491144 -0.0597546
  0.300245   0.404907   0.863657   0.873188
         0          0          0          1
