2
  0.201195  -0.959202   0.198623  -0.128496
 -0.822746  -0.275523  -0.497168  -0.190496
   0.53161 -0.0633883  -0.844614   0.863122
         0          0          0          1
-0.401335 -0.871555  0.281642 -0.405469
-0.835991  0.222924 -0.501422 -0.163728
 0.374232 -0.436688 -0.818079  0.759896
        0         0         0         1
