2
 0.166504  0.985622 0.0287254  0.129914
-0.864171  0.131834  0.485621  -0.11767
 0.474852 -0.105681  0.873697  0.754369
        0         0         0         1
 -0.401564   0.915312 -0.0308015  -0.164951
 -0.813875  -0.341236   0.470282 -0.0474761
  0.419944   0.213917   0.881979   0.705696
         0          0          0          1
