2
 0.0223149   0.997662  0.0645916  0.0992579
 -0.834201 -0.0170273   0.551197  -0.154424
  0.551008 -0.0661823   0.831871   0.958828
         0          0          0          1
  -0.539519    0.841919 -0.00960649   -0.176153
  -0.713107   -0.450847    0.536857  -0.0509714
   0.447659    0.296495    0.843619    0.887047
          0           0           0           1
