2
 -0.829842    0.05639   0.555142 -0.0253576
   0.31799  -0.769733   0.553528 -0.0621663
  0.458524   0.635871   0.620825   0.908865
         0          0          0          1
-0.779529 -0.321883  0.537332 0.0536593
 0.616862 -0.543386  0.569397  0.118027
 0.108699  0.775322  0.622142  0.676834
        0         0         0         1
