2
      0.58   0.797277  -0.167184 0.00638187
  0.391042  -0.452531  -0.801437   0.102829
 -0.714623   0.399457  -0.574237   0.689572
         0          0          0          1
   0.96466  0.0276854   -0.26204   0.195792
 -0.201664  -0.562499  -0.801827 -0.0701061
 -0.169596   0.826334  -0.537037   0.867619
         0          0          0          1
