2
    0.78075     0.62484 -0.00189237  -0.0491388
   0.502966   -0.630256   -0.591441   0.0760839
  -0.370749    0.460816   -0.806346    0.805153
          0           0           0           1
  0.993712   0.111056 -0.0142676  0.0211758
 0.0816052  -0.805586  -0.586833  -0.163418
-0.0766648   0.581978  -0.809583   0.973519
         0          0          0          1
