2
-0.505358 -0.859162 -0.080339 -0.187165
 0.591462 -0.412674  0.692729 0.0392954
 -0.62832  0.302559   0.71671  0.724616
        0         0         0         1
 0.0171791  -0.999135 -0.0378729   0.119651
  0.706841 -0.0146542   0.707221  0.0671224
 -0.707164 -0.0389196   0.705978   0.709236
         0          0          0          1
