2
 0.0208466   0.999107 -0.0367429 -0.0556725
 -0.864107  0.0364909   0.501984  -0.169342
  0.502876  0.0212851   0.864097   0.937056
         0          0          0          1
 -0.517105   0.851031 -0.0913722  -0.328726
 -0.762384  -0.409436   0.501132 -0.0735848
  0.389068   0.328799   0.860533     0.8492
         0          0          0          1
