2
 0.961828  0.209492  0.176071 -0.156992
 0.273447 -0.760884 -0.588458 0.0415175
0.0106926  0.614141 -0.789124   0.66032
        0         0         0         1
 0.921728 -0.353317  0.159951 -0.221808
 -0.20555 -0.794761 -0.571055  -0.20249
 0.328886   0.49348 -0.805178  0.815264
        0         0         0         1
