2
 -0.985575  -0.121499   0.117819  -0.227413
  -0.16122     0.8858  -0.435162   -0.15985
-0.0514922   -0.44788   -0.89261   0.760163
         0          0          0          1
-0.805845  0.585658 0.0872839  -0.10611
 0.485734  0.738134 -0.468211 0.0621226
-0.338638 -0.334909 -0.879295  0.649083
        0         0         0         1
