2
  -0.13071    0.98113  -0.142472  0.0459085
 -0.828396 -0.0291327   0.559384    -0.2128
  0.544679    0.19114   0.816572   0.900115
         0          0          0          1
-0.717125  0.661531 -0.219335 -0.231031
-0.627824 -0.476535  0.615428 -0.119079
 0.302604  0.579042   0.75706  0.775892
        0         0         0         1
