2
 0.0642344   0.997003 -0.0431241 -0.0375962
 -0.839151  0.0773512   0.538371  -0.103314
  0.540093 0.00160557   0.841604   0.858605
         0          0          0          1
 -0.479876   0.871637 -0.0998348   -0.31798
 -0.764343  -0.359495   0.535297 -0.0230992
  0.430694   0.333184   0.838743    0.77175
         0          0          0          1
