2
 -0.510012   0.846577   0.152301  -0.140058
  0.643138   0.492882  -0.586038 -0.0144579
 -0.571192  -0.200936  -0.795842   0.770918
         0          0          0          1
0.0257324  0.992583  0.118812  0.164429
 0.797724 0.0512399 -0.600842 0.0277333
-0.602474   0.11024 -0.790489  0.778886
        0         0         0         1
