2
   0.22839   0.959881  -0.162685  0.0696039
 -0.662817   0.275699   0.696178  0.0282095
    0.7131 -0.0511696   0.699192   0.764615
         0          0          0          1
 -0.319038   0.922295  -0.218143  -0.226051
 -0.725775 -0.0897369   0.682054  0.0276851
   0.60948   0.375924   0.698008   0.671617
         0          0          0          1
