2
 0.0431996   0.987231   0.153323   0.136865
 -0.915465 -0.0223392   0.401778 -0.0889718
  0.400073  -0.157718   0.902811   0.845768
         0          0          0          1
-0.511876  0.852847  0.103126 -0.146065
-0.764865 -0.507108   0.39727 0.0364342
 0.391106  0.124475  0.911889  0.825423
        0         0         0         1
