2
-0.361379  0.920665 -0.147587 0.0260999
-0.803241 -0.227008  0.550701 -0.246095
 0.473508   0.31756  0.821551    0.9349
        0         0         0         1
 -0.780701   0.594034  -0.193983  -0.181637
 -0.587781  -0.592647   0.550711 -0.0970194
  0.212177   0.543961   0.811842   0.770656
         0          0          0          1
