2
  0.820225   0.566663 -0.0782538   0.139474
  0.343967  -0.597867  -0.724045   0.085319
 -0.457075   0.566963  -0.685299   0.637717
         0          0          0          1
 0.978286  0.207225 0.0038063  0.165001
 0.147965 -0.685429 -0.712947 -0.113936
-0.145132   0.69803 -0.701207  0.864303
        0         0         0         1
