2
 -0.400641  -0.893427  -0.203162  -0.170995
  0.736035  -0.445886   0.509351 -0.0847445
 -0.545655  0.0545322   0.836234    0.78722
         0          0          0          1
   0.13637  -0.976839   -0.16489   0.133387
  0.846661  0.0285019   0.531368 -0.0615209
 -0.514361  -0.212069   0.830939   0.831191
         0          0          0          1
