2
 -0.889233   0.302494   0.343164  -0.182361
0.00356952   0.754725  -0.656031 -0.0624463
  -0.45744   -0.58214  -0.672207   0.797574
         0          0          0          1
-0.605122  0.728728  0.320599 0.0189732
 0.379691  0.618107 -0.688315  0.136152
-0.699759 -0.294786 -0.650722  0.681967
        0         0         0         1
