2
 -0.397552  -0.911167   0.108293 -0.0852978
  0.509635  -0.121119   0.851823  0.0709378
 -0.763037   0.393834   0.512513   0.740038
         0          0          0          1
 0.267034 -0.958433  0.100492  0.213246
 0.489775  0.224782  0.842374 0.0311962
-0.829948 -0.175725  0.529441  0.757099
        0         0         0         1
