2
-0.890819  0.412072   0.19141  -0.24474
 0.242872  0.787899 -0.565887 -0.173835
-0.383998 -0.457615 -0.801956   0.74275
        0         0         0         1
  -0.569481    0.805835    0.162238  -0.0179251
    0.59738    0.541297   -0.591722 0.000586459
   -0.56465   -0.240057   -0.789648    0.654428
          0           0           0           1
