2
 0.954038  0.208674 -0.215095  0.110544
-0.101905  0.900862  0.421975  0.110644
 0.281826 -0.380661  0.880722  0.820131
        0         0         0         1
  0.710623   0.667493  -0.222413 -0.0697246
  -0.56155   0.728545    0.39228  -0.127671
  0.423882  -0.153867   0.892552   0.879393
         0          0          0          1
