2
 0.926129  0.103807 -0.362642 0.0645423
0.0866621  0.877115  0.472398  0.107305
 0.367117 -0.468929  0.803325   0.76355
        0         0         0         1
  0.730468    0.57245  -0.372449 -0.0837976
 -0.404238   0.801973   0.439808  -0.145568
  0.550462  -0.170707   0.817221    0.83538
         0          0          0          1
