2
 -0.525168   0.847923  0.0722987  -0.117126
   0.61028   0.434463   -0.66242 -0.0249048
 -0.593092  -0.303759  -0.745636   0.669429
         0          0          0          1
0.0423657  0.995478 0.0850209  0.203384
 0.776462 0.0207466 -0.629822 0.0125346
-0.628738 0.0926985 -0.772072  0.646177
        0         0         0         1
