2
 0.550596  0.834372 0.0258093  0.185044
-0.598822   0.37324  0.708593 -0.139247
 0.581598 -0.405604  0.705145  0.892997
        0         0         0         1
 -0.209383   0.977558 -0.0232385  -0.125666
 -0.721758  -0.138472   0.678153  -0.133594
  0.659716   0.158766   0.734553   0.911344
         0          0          0          1
