2
 0.146802 -0.986329 0.0748566  0.126334
 -0.73636   -0.1595 -0.657521  -0.12391
 0.660471 0.0414039 -0.749709  0.776154
        0         0         0         1
   -0.4109  -0.902203   0.131117  -0.160288
 -0.726001   0.236821   -0.64563 -0.0820574
  0.551438   -0.36048   -0.75231   0.685182
         0          0          0          1
