2
 -0.525168  -0.847923 -0.0722988  -0.125194
   0.61028  -0.434463    0.66242  0.0141883
 -0.593092   0.303759   0.745636   0.718567
         0          0          0          1
 0.0423657  -0.995478  -0.085021   0.193213
  0.776462 -0.0207467   0.629822  0.0513743
 -0.628738 -0.0926986   0.772072   0.695124
         0          0          0          1
