2
0.0697192  0.973343    0.2185 -0.138338
  0.89464 0.0358905 -0.445344 -0.158048
-0.441315  0.226528  -0.86829  0.683786
        0         0         0         1
 0.561672  0.811498  0.161236  0.125824
 0.777063   -0.4505 -0.439573 -0.263518
-0.284075  0.372186 -0.883617  0.793886
        0         0         0         1
