2
 0.0558671   0.995888 -0.0713153   0.162544
 -0.878749  0.0829543   0.470021  -0.197716
  0.474004  0.0364094    0.87977    0.95759
         0          0          0          1
-0.481644   0.86668 -0.129945 -0.116431
-0.801792 -0.375932  0.464548 -0.120818
 0.353764  0.327936  0.875962  0.867659
        0         0         0         1
