2
 0.161391  0.986407 0.0308938  0.130101
-0.864565  0.126222  0.486411 -0.120915
 0.475899 -0.105212  0.873184  0.758305
        0         0         0         1
 -0.403629   0.914434 -0.0299001  -0.165097
 -0.810624  -0.342272   0.475119 -0.0494745
  0.424231    0.21601   0.879413   0.708777
         0          0          0          1
