2
-0.0500223   0.998746 0.00219983 -0.0281234
 -0.870802 -0.0446926   0.489597  -0.184169
  0.489082  0.0225751   0.871946   0.858311
         0          0          0          1
 -0.564738   0.824252 -0.0410081  -0.297435
 -0.729468  -0.475324   0.491878 -0.0675276
  0.385939   0.307696   0.869698   0.776505
         0          0          0          1
