2
  0.508626   0.844724  -0.166554    0.11001
 -0.591269    0.48331    0.64561 -0.0863927
   0.62586  -0.229896   0.745284   0.916826
         0          0          0          1
0.0509252  0.981934 -0.182242 -0.187981
 -0.75582   0.15717  0.635637 -0.130391
 0.652797  0.105372  0.750169  0.883484
        0         0         0         1
