2
 0.0579395   0.996543    0.05955   0.110758
 -0.843887  0.0170196   0.536251  -0.158759
  0.533383 -0.0813236   0.841955   0.955922
         0          0          0          1
 -0.486918   0.873371 -0.0116352  -0.176262
 -0.744806  -0.408208   0.527855 -0.0664134
  0.456263   0.265688   0.849255   0.893464
         0          0          0          1
