2
 0.855403   0.16387 -0.491358  0.127476
0.0969247  0.881236  0.462632  0.109658
 0.508814 -0.443361  0.737929  0.766397
        0         0         0         1
   0.64001   0.581357  -0.502405 -0.0252437
 -0.394727    0.80975    0.43416  -0.146357
  0.659225 -0.0795542   0.747726    0.81434
         0          0          0          1
