2
 0.923478  0.382952 0.0231529 0.0144076
 0.345103 -0.802811 -0.486208 0.0665902
-0.167607  0.456993 -0.873536  0.708347
        0         0         0         1
   0.984292   -0.175848   0.0157277 0.000606238
  -0.146033   -0.860983   -0.487219   -0.197039
  0.0992179    0.477269   -0.873139     0.85075
          0           0           0           1
