2
  -0.590865   -0.795935   -0.131782   -0.137675
   0.698816   -0.586553    0.409405 -0.00511408
  -0.403157    0.149812    0.902785    0.799559
          0           0           0           1
-0.0751777  -0.991559  -0.105634   0.165891
  0.897745  -0.113412   0.425666  0.0614931
 -0.434054 -0.0628315   0.898693   0.798189
         0          0          0          1
