2
 -0.585699   0.669859   0.456339  -0.161249
  0.459203   0.738177  -0.494194 -0.0788511
 -0.667899 -0.0798973  -0.739951   0.713695
         0          0          0          1
-0.156172  0.892297  0.423575  0.109151
 0.770887   0.37822 -0.512526 0.0629027
 -0.61753  0.246486 -0.746928  0.769295
        0         0         0         1
