2
 0.968797  0.222573   0.10906  0.135432
 -0.24397  0.778721   0.57799 0.0326902
0.0437177 -0.586562  0.808724  0.680375
        0         0         0         1
  0.876536   0.481142    0.01366 -0.0540206
 -0.390323   0.693905   0.605098  -0.143967
  0.281659  -0.535722   0.796034   0.842184
         0          0          0          1
