2
 0.0906166  -0.994298  0.0562201 -0.0257589
 -0.825226   -0.10657  -0.554658  -0.136031
  0.557486 0.00386705  -0.830177   0.875986
         0          0          0          1
 -0.481561  -0.868047   0.120804  -0.303252
 -0.762833   0.347289  -0.545413 -0.0604062
  0.431491  -0.354803  -0.829416    0.78321
         0          0          0          1
