2
0.0863516  0.982125 -0.167252  0.188079
-0.935221  0.137772  0.326161 -0.139111
 0.343374  0.128253  0.930401  0.981093
        0         0         0         1
 -0.419358   0.883673  -0.207991 -0.0901539
 -0.884539   -0.34618    0.31265 -0.0694819
  0.204278   0.315088   0.926817   0.886519
         0          0          0          1
