2
-0.305447  0.945497 -0.112863 0.0537067
-0.852029 -0.218464  0.475731 -0.181397
 0.425146  0.241473   0.87232  0.934792
        0         0         0         1
 -0.754984   0.633796  -0.168232  -0.167164
 -0.626273  -0.620876   0.471482 -0.0248593
  0.194372    0.46132   0.865681   0.796882
         0          0          0          1
