2
 -0.612197   0.772127   0.170397 -0.0848108
  0.589342   0.589243  -0.552692 -0.0779766
 -0.527154  -0.237935   -0.81578   0.788393
         0          0          0          1
  -0.108163    0.983598    0.144347    0.211024
   0.796431    0.172635   -0.579564 0.000229807
  -0.594977   0.0522749   -0.802041    0.783293
          0           0           0           1
