2
 -0.518699   0.834402   0.186348  -0.182778
  0.476061   0.462925  -0.747707 -0.0709128
 -0.710154  -0.299122  -0.637345   0.667547
         0          0          0          1
0.00619869   0.988514   0.150999   0.118747
  0.630038     0.1134   -0.76824 -0.0152451
  -0.77654  0.0998972  -0.622099   0.668832
         0          0          0          1
