2
   -0.9326  -0.235308  -0.273654  -0.212814
0.00392518    -0.7648   0.644255 -0.0438432
  -0.36089   0.599759   0.714177   0.890589
         0          0          0          1
 -0.695798  -0.674666  -0.246355 -0.0301531
  0.378048  -0.635659   0.673065   0.155611
 -0.610692   0.375183   0.697347   0.752281
         0          0          0          1
