2
-0.00400946   -0.984222    0.176893   0.0813658
  -0.807143   -0.101244   -0.581611   -0.225333
   0.590343    -0.14511   -0.794002    0.832607
          0           0           0           1
-0.440533 -0.880253   0.17631 -0.198213
-0.760611  0.261653 -0.594145 -0.169622
 0.476866 -0.395844 -0.784797  0.734052
        0         0         0         1
