2
  -0.982153   0.0162402   -0.187382 -0.00593937
   0.156754    0.621251   -0.767772  -0.0850755
   0.103943   -0.783443    -0.61271    0.902297
          0           0           0           1
-0.906688  0.396783 -0.143109 0.0873785
 0.353511  0.529736 -0.770979 0.0821888
-0.230101 -0.749629 -0.620573  0.667135
        0         0         0         1
