2
-0.0614333   -0.99021  -0.125341  -0.194245
  0.808099  -0.123052    0.57605 0.00888693
 -0.585834 -0.0658993   0.807747   0.817273
         0          0          0          1
  0.458158  -0.886061 -0.0706249  0.0955803
   0.73749   0.334576   0.586658 -0.0623571
 -0.496185  -0.320867    0.80675   0.896984
         0          0          0          1
