2
 0.979371 -0.181892 0.0880268  0.128281
 -0.10561 -0.832125  -0.54444 0.0665068
 0.172279  0.523912 -0.834168   0.68695
        0         0         0         1
  0.740575   -0.66635  0.0867569 -0.0540717
 -0.538296  -0.665566  -0.516972  -0.149093
  0.402226   0.336156  -0.851595   0.799095
         0          0          0          1
