2
  -0.10867   0.993378  0.0373023 -0.0418909
 -0.832985  -0.111474   0.541951 -0.0793859
  0.542521  0.0278213   0.839582   0.914559
         0          0          0          1
 -0.640999   0.767351 -0.0171046  -0.302318
 -0.649751  -0.530631   0.544292  0.0561674
  0.408586   0.360004   0.838722   0.818042
         0          0          0          1
