2
-0.00400946    0.984222   -0.176893   0.0655703
  -0.807143    0.101244    0.581611   -0.174435
   0.590343     0.14511    0.794002    0.901867
          0           0           0           1
-0.440533  0.880253  -0.17631 -0.213864
-0.760611 -0.261653  0.594145  -0.11751
 0.476866  0.395844  0.784797  0.802435
        0         0         0         1
