2
 -0.626345  -0.772561   0.104125 -0.0580425
  0.564656  -0.357531   0.743865  0.0669827
 -0.537454   0.524711   0.660169   0.810378
         0          0          0          1
-0.131392 -0.983275  0.126117  0.234403
 0.648782 0.0108993  0.760896 0.0853781
-0.749545  0.181798  0.636499  0.724475
        0         0         0         1
