2
 0.947465 -0.242707  0.208335  0.149132
0.0297647  0.715406  0.698075  0.132484
-0.318472   -0.6552  0.685046   0.67963
        0         0         0         1
  0.904987   0.338364   0.257893   0.083384
 -0.418182   0.595988   0.685509 -0.0510589
 0.0782505  -0.728222    0.68086   0.913463
         0          0          0          1
