2
 0.0483336   0.996662  0.0657844    0.12645
 -0.845716 0.00579314   0.533601  -0.163751
  0.531439 -0.0814258   0.843174   0.951781
         0          0          0          1
 -0.484907   0.874542 0.00637359  -0.155776
 -0.742184  -0.415351   0.525971  -0.066296
  0.462632   0.250317   0.850478   0.890389
         0          0          0          1
