2
 -0.570118   0.684957   0.453653  -0.190845
  0.457574   0.723343  -0.517108 -0.0838756
 -0.682343 -0.0872328  -0.725809   0.710706
         0          0          0          1
-0.113612  0.901642  0.417293 0.0815739
 0.770262  0.345222 -0.536208  0.049579
-0.627527  0.260505 -0.733722  0.769667
        0         0         0         1
