2
-0.189079  0.981895 0.0114401 0.0159249
-0.749668 -0.151865  0.644154 -0.171428
 0.634229   0.11322   0.76481  0.918555
        0         0         0         1
 -0.587569   0.808677  0.0283589  -0.233143
 -0.613272  -0.467907   0.636365 -0.0425616
  0.527883   0.356517   0.770867   0.815348
         0          0          0          1
