2
 0.968548 -0.215395  0.124577  0.170658
0.0699978  0.716297  0.694276  0.194258
-0.238777 -0.663719  0.708846  0.726384
        0         0         0         1
  0.978665   0.189315  0.0798387  0.0712286
 -0.189662   0.682981   0.705383 0.00781932
 0.0790116  -0.705476   0.704316   0.947212
         0          0          0          1
