2
 0.559415  0.828592 0.0221445  0.170316
 -0.60911  0.392822  0.688967 -0.102588
 0.562174 -0.398907  0.724454  0.906981
        0         0         0         1
 0.0080325   0.998851 -0.0472554  -0.138621
 -0.687685  0.0398261   0.724917  -0.123694
  0.725965  0.0266738   0.687214   0.904256
         0          0          0          1
