2
 -0.590865   0.795935   0.131782   -0.12617
  0.698816   0.586553  -0.409405 -0.0274164
 -0.403157  -0.149812  -0.902785   0.741438
         0          0          0          1
-0.0751777   0.991559   0.105634   0.177221
  0.897745   0.113412  -0.425666  0.0361111
 -0.434054  0.0628314  -0.898693   0.741311
         0          0          0          1
