2
-0.0523155   0.971492   0.231227   0.115737
 -0.820448  -0.173817   0.544658 -0.0574048
  0.569322  -0.161216   0.806152   0.875268
         0          0          0          1
-0.577371  0.797068  0.176993 -0.149223
-0.615377 -0.567283  0.547267 0.0926924
 0.536614  0.207059   0.81803  0.835531
        0         0         0         1
