2
   0.996942  -0.0502311   0.0598647   0.0953881
-0.00272428    0.743248    0.669011   0.0693115
 -0.0780994   -0.667128    0.740838    0.674278
          0           0           0           1
   0.941445    0.337166 0.000356295  -0.0329031
  -0.249767    0.696696    0.672482    -0.12186
    0.22649   -0.633194    0.740113    0.875128
          0           0           0           1
