2
-0.0403902   0.984441   0.171012  -0.154653
  0.855425   0.122515  -0.503227  -0.141327
 -0.516349   0.125963  -0.847064   0.718224
         0          0          0          1
 0.480566   0.86875  0.119704  0.126424
 0.780713  -0.36165 -0.509605 -0.220293
-0.399429  0.338353 -0.852041  0.810682
        0         0         0         1
