2
 0.134414 -0.982524  0.128765 0.0448816
 -0.56947 -0.182934 -0.801398 0.0606072
 0.810948 0.0343908 -0.584107  0.739083
        0         0         0         1
-0.416935 -0.891362  0.177876 -0.241343
-0.592958  0.118415 -0.796479 0.0730607
 0.688888 -0.437552 -0.577911     0.626
        0         0         0         1
