2
 0.942784  0.240393  -0.23102 0.0218777
-0.123386  0.895283  0.428071  0.113064
 0.309734 -0.375073  0.873719  0.933071
        0         0         0         1
  0.664412   0.703474  -0.252352  -0.167367
 -0.603213   0.704112   0.374647  -0.121096
  0.441239 -0.0966977   0.892165   0.985037
         0          0          0          1
