2
     0.9716    0.232776  -0.0425235 -0.00505216
  -0.162891    0.788295    0.593344   0.0890976
   0.171638   -0.569567    0.803825    0.758252
          0           0           0           1
  0.693026   0.717976 -0.0649944  -0.195218
  -0.57874   0.607845   0.543676  -0.110778
  0.429853  -0.339167   0.836775   0.881036
         0          0          0          1
