2
 0.986135  0.143473 0.0833808 0.0629419
-0.165032  0.795366  0.583231  0.127194
0.0173594 -0.588905  0.808016  0.799279
        0         0         0         1
  0.774353   0.627727  0.0796029  -0.107171
 -0.556692   0.616055   0.557289 -0.0716003
  0.300785  -0.475853   0.826494   0.952511
         0          0          0          1
