2
     0.9716   -0.232776   0.0425235 -0.00246345
  -0.162891   -0.788295   -0.593344   0.0477074
   0.171638    0.569567   -0.803825    0.710418
          0           0           0           1
 0.693026 -0.717976 0.0649945 -0.193822
 -0.57874 -0.607845 -0.543676 -0.148607
 0.429853  0.339167 -0.836775  0.830293
        0         0         0         1
