2
   0.935778    0.352548 -0.00538302     0.16047
    0.24483   -0.660694   -0.709607    0.126144
  -0.253727    0.662717   -0.704577     0.63993
          0           0           0           1
  0.998897 0.00661322  0.0464889   0.112684
 0.0375875  -0.706013  -0.707201 -0.0725978
 0.0281449   0.708168  -0.705483   0.864528
         0          0          0          1
