2
 0.908663  0.277488   0.31198 0.0422783
 0.416091 -0.663795 -0.621487 0.0706127
0.0346361  0.694534 -0.718626  0.705539
        0         0         0         1
    0.924733    -0.241004     0.294593 -0.000892486
  -0.0114337    -0.791231     -0.61141    -0.165725
    0.380444     0.562024    -0.734433     0.885645
           0            0            0            1
