2
  -0.6488  0.729656  0.216009 -0.136496
 0.573824  0.655559 -0.490885 -0.161693
-0.499784 -0.194536 -0.844021  0.661818
        0         0         0         1
 0.424913  0.889488  0.168106  0.121452
  0.81301 -0.293323 -0.502967  -0.21634
-0.398074  0.350389   -0.8478  0.806616
        0         0         0         1
