2
0.00617243   0.986213   0.165368 -0.0386417
  0.925027  0.0571863  -0.375573 -0.0313741
 -0.379852   0.155288   -0.91192   0.666868
         0          0          0          1
 0.546064  0.825648  0.141844  0.229951
 0.800854 -0.464791 -0.377627 -0.141933
-0.245859  0.319805 -0.915029  0.754176
        0         0         0         1
