2
 -0.100782  -0.963742   -0.24707 -0.0542624
  0.853528  -0.211352   0.476257   0.030816
 -0.511208  -0.162883   0.843882   0.767609
         0          0          0          1
  0.438588  -0.870454  -0.223493   0.226383
  0.823661   0.289869     0.4874 -0.0229364
 -0.359476   -0.39785   0.844092   0.875168
         0          0          0          1
