2
 -0.615661   0.742007   0.265306  -0.191076
  0.417296   0.592589  -0.688987 -0.0612358
  -0.66845  -0.313471   -0.67447   0.651129
         0          0          0          1
-0.137658  0.963163  0.231015 0.0968614
 0.653536  0.263583 -0.709517 0.0384672
-0.744272 0.0533054 -0.665746  0.641625
        0         0         0         1
