2
-0.676307  0.629711  0.382196  -0.13568
 0.262803  0.690973 -0.673417 -0.154452
-0.688145 -0.354995   -0.6328  0.670234
        0         0         0         1
  -0.228413    0.904473    0.360217    0.129622
   0.566448    0.424389   -0.706421 -0.00807878
  -0.791811    0.042688   -0.609273    0.653845
          0           0           0           1
