2
 -0.674757  -0.737821  0.0179854  -0.100235
  0.533308  -0.470589   0.702943 -0.0219538
 -0.510182   0.483907   0.711019   0.886903
         0          0          0          1
  -0.0118792    -0.999866    0.0112375     0.191205
    0.728222 -0.000949365      0.68534     0.020639
   -0.685238    0.0163247     0.728136     0.841361
           0            0            0            1
