2
0.00738873   0.985222    0.17112   0.145137
 -0.896492 -0.0692834   0.437609 -0.0850098
  0.442998  -0.156642   0.882733   0.838743
         0          0          0          1
 -0.51727   0.84672  0.124487 -0.133544
-0.740733 -0.515803  0.430421 0.0425317
 0.428657  0.130432  0.894003  0.816733
        0         0         0         1
