2
 0.0528293  -0.995472  0.0790255 -0.0669005
 -0.846528  -0.086622   -0.52525  -0.180757
  0.529716 -0.0391486  -0.847271   0.891218
         0          0          0          1
 -0.479499  -0.867186   0.134426  -0.338925
 -0.775264   0.346841   -0.52789 -0.0976724
  0.411155  -0.357338  -0.838607   0.792392
         0          0          0          1
