2
 0.0413625   0.996872  0.0673446  0.0726342
 -0.959566  0.0208508   0.280711  -0.175176
  0.278429 -0.0762324   0.957427   0.835217
         0          0          0          1
 -0.519961   0.854142  0.0090368  -0.209803
 -0.822297  -0.503383   0.265391 -0.0569766
  0.231231   0.130562   0.964099   0.806056
         0          0          0          1
