2
 -0.872597   0.353407   0.337165  -0.175176
  0.040658   0.740444  -0.670887 -0.0636523
 -0.486748  -0.571705  -0.660478   0.795016
         0          0          0          1
-0.570383  0.759393  0.313026 0.0451426
 0.417321  0.596172 -0.685874  0.128004
-0.707465 -0.260578 -0.656957    0.6918
        0         0         0         1
