2
 -0.783599  0.0232424  -0.620833   0.159711
  0.549419   0.492421  -0.675026 -0.0218067
  0.290022  -0.870047   -0.39863   0.875407
         0          0          0          1
-0.877437  0.182308 -0.443699  0.189538
 0.475673  0.450165 -0.755703  0.134859
0.0619676 -0.874137  -0.48171  0.615863
        0         0         0         1
