2
 0.0589895   0.993351 -0.0988612   -0.10155
   0.81643  -0.104994  -0.567818  0.0210564
 -0.574423 -0.0472179  -0.817196   0.791488
         0          0          0          1
 0.570982  0.809555 -0.136384  0.164439
  0.62371 -0.535786 -0.569139 -0.120784
-0.533822  0.239904 -0.810852  0.843159
        0         0         0         1
