2
 -0.996043  -0.082576 -0.0328516  -0.246705
 0.0584518  -0.887161   0.457744  -0.100382
-0.0669433   0.454012   0.888477   0.840683
         0          0          0          1
 -0.828354  -0.559899 -0.0185228  -0.104022
  0.478132  -0.723839   0.497439   0.130371
 -0.291923   0.403199   0.867301   0.707675
         0          0          0          1
