2
 -0.687436   0.723768  0.0599308  -0.159095
    0.5301   0.556468  -0.639795 -0.0481058
 -0.496412  -0.408049  -0.766206    0.79108
         0          0          0          1
-0.206075  0.978299 0.0215445  0.129238
 0.730874  0.168521  -0.66138 0.0241662
-0.650658 -0.120547 -0.749742  0.728245
        0         0         0         1
