2
 0.978536 -0.184344 0.0921082  0.122755
-0.105866 -0.833168 -0.542794  0.067073
 0.176802  0.521392   -0.8348  0.690666
        0         0         0         1
  0.743586  -0.661309  0.0987443 -0.0581778
 -0.530669  -0.673522  -0.514546  -0.148797
  0.406781   0.330209  -0.851758   0.802341
         0          0          0          1
