2
-0.0283359  -0.999438  0.0179269   0.110795
 -0.865996  0.0155875  -0.499807  -0.190287
  0.499247 -0.0296871  -0.865951    0.92874
         0          0          0          1
 -0.576418  -0.813888  0.0729977  -0.151693
 -0.730933   0.473596   -0.49137 -0.0760913
  0.365349  -0.336591  -0.867887   0.834814
         0          0          0          1
