2
0.0903316  0.985295 -0.145031  0.071159
 -0.77851   0.16068  0.606716 -0.144004
 0.621098 0.0581026  0.781577  0.917216
        0         0         0         1
 -0.586078    0.78827  -0.187465  -0.219712
 -0.682308  -0.355356   0.638888 -0.0883923
     0.437   0.502347    0.74611   0.823132
         0          0          0          1
