2
-0.342541  0.908155  0.240668 -0.140794
 0.789336  0.417115 -0.450515 -0.108867
-0.509524 0.0356482 -0.859718  0.725583
        0         0         0         1
  0.182738   0.961974   0.203011   0.159836
  0.877777 -0.0666254  -0.474414  -0.097739
 -0.442848   0.264892  -0.856574   0.789739
         0          0          0          1
