2
 -0.985372  0.0366186   0.166439  0.0161982
-0.0866823   0.733174  -0.674494  -0.128848
 -0.146728  -0.679054  -0.719275   0.752951
         0          0          0          1
-0.871359  0.458937  0.173523  0.141852
 0.233246  0.698606 -0.676421 0.0893231
-0.431658 -0.548932 -0.715782  0.582077
        0         0         0         1
