2
 -0.157308   0.985909  -0.056893 -0.0493206
 -0.796592 -0.0926289   0.597378  -0.118354
  0.583691   0.139293   0.799939   0.970798
         0          0          0          1
  -0.67419   0.730907  -0.106036   -0.29525
 -0.628779  -0.492716   0.601555 0.00185075
  0.387435   0.472235   0.791763   0.839424
         0          0          0          1
