2
0.00882554   0.984958   0.172568    -0.1612
   0.85556  0.0818949  -0.511186  -0.127975
 -0.517629   0.152153  -0.841968   0.712731
         0          0          0          1
 0.520222  0.846878  0.110303  0.113975
 0.759701 -0.399882 -0.512785 -0.219051
-0.390159  0.350559 -0.851402  0.811498
        0         0         0         1
