2
 0.884156  0.416766  0.211127 -0.109142
  0.45148  -0.64599 -0.615519 0.0624974
-0.120141  0.639534 -0.759317  0.683677
        0         0         0         1
  0.971445  -0.137685   0.193229   -0.11199
0.00490309  -0.802578  -0.596526  -0.175243
  0.237214    0.58044  -0.778986   0.866309
         0          0          0          1
