2
 -0.857741  -0.486937   0.164839 -0.0477937
  0.483483  -0.655121    0.58057   0.050683
 -0.174711   0.577675    0.79735   0.878369
         0          0          0          1
-0.476727 -0.863527  0.164476  0.198897
 0.735719 -0.289548  0.612275  0.161802
-0.481092  0.412896  0.773349  0.731433
        0         0         0         1
