2
 -0.992388 -0.0198814  -0.121541   -0.23465
-0.0348488  -0.901218   0.431963  -0.164207
 -0.118122    0.43291   0.893665   0.830268
         0          0          0          1
-0.843867 -0.523998 -0.115392 -0.106092
 0.418499 -0.777383   0.46961 0.0788759
-0.335779  0.347996    0.8753   0.71322
        0         0         0         1
