2
 0.620237  0.783941 0.0272561  0.177876
-0.565978   0.42319  0.707516 -0.139377
 0.543116 -0.454253  0.706172  0.886682
        0         0         0         1
  0.235756   0.971803 0.00437322   -0.12026
 -0.659118    0.15659   0.735557  -0.167468
  0.714131  -0.176294   0.677449   0.915201
         0          0          0          1
