2
-0.0169522   0.985019   0.171612  -0.157158
  0.858385   0.102353  -0.502692  -0.136981
 -0.512726   0.138788  -0.847261   0.715072
         0          0          0          1
 0.495068  0.861466  0.113068  0.121561
 0.772641 -0.376979 -0.510796  -0.22062
-0.397409  0.340239 -0.852234  0.810141
        0         0         0         1
