2
-0.0705946    0.96995   0.232837  -0.165586
  0.852522   0.179858  -0.490773  -0.162542
 -0.517903   0.163853  -0.839601   0.698347
         0          0          0          1
 0.432966  0.884101  0.175798  0.116233
 0.815133 -0.300745 -0.495086 -0.222923
-0.384836  0.357654 -0.850873  0.801617
        0         0         0         1
