2
 0.0536277   0.983764   0.171266  -0.051791
  0.939041 0.00864561  -0.343697 -0.0747019
 -0.339597   0.179258  -0.923331   0.650665
         0          0          0          1
 0.561957  0.814582  0.143736  0.213136
 0.801195 -0.492831 -0.339418  -0.19594
-0.205646  0.305899 -0.929589  0.735779
        0         0         0         1
