2
 -0.813447  -0.572126    0.10477 -0.0873934
  0.456043   -0.51556   0.725412 0.00919014
 -0.361012   0.637864   0.680294   0.869095
         0          0          0          1
-0.445281 -0.888428   0.11145  0.173758
 0.643266 -0.230827  0.730019 0.0945165
-0.622843  0.396756  0.674279  0.736866
        0         0         0         1
