2
 0.978827  0.201008 0.0386484 0.0228353
-0.186546  0.798297  0.572645  0.121116
0.0842533  -0.56773  0.818892   0.79318
        0         0         0         1
  0.734644   0.677783  0.0301258  -0.155872
 -0.582096   0.606875   0.541172 -0.0781864
  0.348515  -0.415105   0.840372   0.933782
         0          0          0          1
