2
 0.853359  0.519905 0.0384403 0.0195211
 0.340945 -0.500794 -0.795589 0.0267675
 -0.39438  0.692029 -0.604616  0.572534
        0         0         0         1
  0.993773  -0.110974 0.00997916  0.0357337
-0.0575669  -0.588059  -0.806767  -0.137438
 0.0953987   0.801169  -0.590785   0.829955
         0          0          0          1
