2
 0.0683461   0.996598 -0.0460505 -0.0379044
 -0.842709  0.0823765    0.53203  -0.108144
  0.534014 0.00244489   0.845472   0.859062
         0          0          0          1
 -0.478112   0.872816 -0.0979912  -0.318483
 -0.769352   -0.36237   0.526103 -0.0283219
  0.423682   0.326926   0.844756   0.773338
         0          0          0          1
