2
 0.991633 0.0801729  0.101177  0.116267
-0.126912  0.748854   0.65047 0.0255258
-0.023617 -0.657868  0.752763  0.689532
        0         0         0         1
  0.916106   0.400927 0.00257276 -0.0461089
 -0.300336    0.68198    0.66686  -0.151098
  0.265607  -0.611687   0.745179   0.878479
         0          0          0          1
