2
-0.0872455  -0.910565   0.404055  -0.037476
 -0.920535 -0.0813509  -0.382096  -0.198643
  0.380793  -0.405283  -0.831109    1.00485
         0          0          0          1
-0.466262 -0.758128  0.455896  -0.26886
-0.871292   0.30434 -0.385003 -0.105259
 0.153135 -0.576731 -0.802453  0.825258
        0         0         0         1
