2
   0.36678   0.873408   0.320361  -0.163012
  0.681613 -0.0179309  -0.731493 -0.0273418
 -0.633147   0.486659  -0.601903   0.633354
         0          0          0          1
 0.771152  0.568602  0.286384 0.0371158
 0.557327 -0.385472  -0.73539 -0.124582
-0.307751  0.726707 -0.614155  0.846711
        0         0         0         1
