2
   0.9703  0.103227 -0.218776 0.0108344
0.0785884  0.720815  0.688659 0.0626497
 0.228785 -0.685398  0.691294  0.725378
        0         0         0         1
 0.772814  0.596571 -0.216475 -0.139398
-0.337947  0.675567  0.655288 -0.148903
 0.537169 -0.433258  0.723697  0.877444
        0         0         0         1
