2
 0.952067 -0.304367 0.0304702  0.177121
 0.197461  0.687611  0.698713  0.163855
-0.233617 -0.659206  0.714753   0.68743
        0         0         0         1
   0.999132 -0.00397435  -0.0414747    0.120411
  0.0316585    0.719566    0.693703   -0.041272
  0.0270867   -0.694413    0.719067    0.908555
          0           0           0           1
