2
 -0.885467   0.445286   0.132925  -0.217829
  0.276781   0.735127  -0.618855 -0.0890218
 -0.373284  -0.511184  -0.774177   0.784219
         0          0          0          1
-0.548615  0.831502 0.0873303 0.0168493
 0.601788  0.465232 -0.649161 0.0660365
-0.580408 -0.303585 -0.755621  0.672972
        0         0         0         1
