2
0.0708362  0.987857 -0.138278  0.198552
-0.935675  0.113846  0.333993 -0.136857
 0.345679  0.105724  0.932378  0.974322
        0         0         0         1
 -0.450503    0.87531  -0.175727 -0.0803421
 -0.865471  -0.379874   0.326581 -0.0612474
  0.219105   0.299213    0.92869   0.886363
         0          0          0          1
