2
 -0.783599 -0.0232425   0.620833   0.214076
  0.549419  -0.492421   0.675026  0.0372784
  0.290022   0.870047    0.39863   0.909906
         0          0          0          1
-0.877437 -0.182308  0.443699   0.22849
 0.475673 -0.450165  0.755703   0.20099
0.0619676  0.874137   0.48171   0.65765
        0         0         0         1
