2
 0.500944   0.85343 -0.143921  0.129478
-0.552235  0.443226  0.706107 -0.070312
 0.666402 -0.274241  0.693325  0.902239
        0         0         0         1
 -0.210755   0.966158  -0.148731  -0.175576
 -0.712782 -0.0477635   0.699758 -0.0919273
  0.668973    0.25349   0.698727   0.875084
         0          0          0          1
