2
 0.951175  0.289455  0.107151  0.102873
 0.288489 -0.710329 -0.642034 0.0532573
-0.109728  0.641599 -0.759152  0.597715
        0         0         0         1
  0.975363   -0.17039   0.140124  0.0492136
-0.0438263  -0.772175  -0.633897  -0.170648
   0.21621   0.612139  -0.760618   0.796037
         0          0          0          1
