2
-0.0523155  -0.971492  -0.231227  0.0964421
 -0.820448   0.173817  -0.544658 -0.0918116
  0.569322   0.161216  -0.806152   0.825755
         0          0          0          1
-0.577371 -0.797068 -0.176993 -0.164811
-0.615377  0.567283 -0.547267  0.060218
 0.536614 -0.207059  -0.81803  0.783469
        0         0         0         1
