2
 -0.495303  -0.867512 -0.0458009  -0.159816
  0.628804  -0.394392    0.67012   0.030984
 -0.599401   0.303113   0.740838   0.724164
         0          0          0          1
 0.0340603   -0.99937 -0.0100151   0.146729
  0.726824   0.017891   0.686591  0.0508262
 -0.685979 -0.0306649   0.726975   0.704325
         0          0          0          1
