2
 -0.397672  -0.898941  -0.183743  -0.150859
  0.751803  -0.434043   0.496386 -0.0915607
 -0.525974  0.0592605   0.848434    0.79368
         0          0          0          1
  0.139207  -0.979431  -0.146067   0.153702
  0.852043  0.0433007   0.521677 -0.0740412
 -0.504622  -0.197077   0.840546   0.834177
         0          0          0          1
