2
   0.10335  -0.994483  0.0179344   0.064061
 -0.851432 -0.0977759  -0.515271  -0.224659
  0.514182  0.0379833   -0.85684   0.888414
         0          0          0          1
-0.462593 -0.883071 0.0786966 -0.220413
-0.782347  0.364843   -0.5048 -0.146063
 0.417063 -0.295085 -0.859642  0.815349
        0         0         0         1
