2
 0.558534  0.828283 0.0445812  0.105871
-0.592332  0.360648  0.720469 -0.108627
 0.580675 -0.428813  0.692052  0.920716
        0         0         0         1
 -0.0291524    0.999565 -0.00447979   -0.200777
  -0.683912  -0.0166774    0.729374   -0.109606
   0.728982   0.0243267    0.684101    0.924545
          0           0           0           1
