2
 0.0451954   0.998349 -0.0354536 -0.0318519
 -0.928722  0.0550646   0.366665  -0.193988
  0.368012   0.016355   0.929677   0.862319
         0          0          0          1
 -0.482848   0.872107 -0.0792939  -0.311413
  -0.82714  -0.424461   0.368336 -0.0958526
  0.287571   0.243437   0.926305   0.798262
         0          0          0          1
