2
 0.00531203    0.992135    0.125059    0.154911
  -0.805271  -0.0699035    0.588772 0.000869215
   0.592884   -0.103834    0.798566     0.92819
          0           0           0           1
-0.528036  0.844728 0.0872566 -0.120384
-0.654616 -0.470331  0.591833  0.117222
 0.540977  0.255389  0.801324  0.871634
        0         0         0         1
