2
 -0.861965   0.506757 -0.0146336  0.0840716
   -0.3047  -0.494777   0.813851 -0.0264699
  0.405184    0.70597   0.580889    0.95024
         0          0          0          1
   -0.999825    0.0103589     -0.01557    0.0411188
    -0.01869    -0.582188      0.81284     0.145579
-0.000644542     0.812989      0.58228      0.70266
           0            0            0            1
