2
     0.58 -0.797277  0.167184 0.0211883
 0.391042  0.452531  0.801437  0.172658
-0.714623 -0.399457  0.574237  0.739985
        0         0         0         1
     0.96466   -0.0276854      0.26204     0.218573
   -0.201664     0.562499     0.801827 -0.000201762
   -0.169596    -0.826334     0.537037     0.914855
           0            0            0            1
