2
-0.0614333    0.99021   0.125341  -0.181663
  0.808099   0.123052   -0.57605 -0.0260359
 -0.585834  0.0658992  -0.807747   0.765991
         0          0          0          1
 0.458158  0.886061 0.0706248  0.104755
  0.73749 -0.334576 -0.586658 -0.100213
-0.496185  0.320867  -0.80675  0.847076
        0         0         0         1
