2
 0.992632 0.0833391  0.087953  0.100367
-0.118913  0.809363  0.575144  0.102066
-0.023254 -0.581365  0.813311   0.78416
        0         0         0         1
  0.806938   0.583575  0.0910528 -0.0537951
  -0.52781   0.643296   0.554605  -0.106538
   0.26508  -0.495591   0.827117   0.939873
         0          0          0          1
