2
 0.984714 0.0635464  0.162175  0.154657
 0.149482 -0.786244 -0.599563 0.0953339
0.0894087  0.614641 -0.783724  0.667309
        0         0         0         1
 0.871021 -0.466496   0.15396 0.0387945
-0.303598 -0.757575 -0.577848 -0.141539
   0.3862  0.456576 -0.801491  0.815386
        0         0         0         1
