2
 0.942378  0.308539  0.129339  0.101066
 0.316913  -0.69941 -0.640619 0.0609689
-0.107195  0.644694 -0.756888   0.59683
        0         0         0         1
  0.975743  -0.154158   0.155436  0.0528741
-0.0208625  -0.772267  -0.634956  -0.163056
  0.217921   0.616311   -0.75675   0.796723
         0          0          0          1
