2
 0.942378 -0.308539 -0.129339 0.0897446
 0.316913   0.69941  0.640619  0.116669
-0.107195 -0.644694  0.756888  0.663209
        0         0         0         1
  0.975743   0.154158  -0.155436  0.0391079
-0.0208625   0.772267   0.634956  -0.107831
  0.217921  -0.616311    0.75675   0.863035
         0          0          0          1
