2
 0.0821412   0.994588  0.0636222   0.109082
 -0.727955  0.0162745   0.685432 -0.0319643
  0.680687  -0.102616   0.725352   0.778561
         0          0          0          1
  -0.46388   0.885859 0.00838093  -0.180399
  -0.64493  -0.344173   0.682356  0.0481294
  0.607356   0.311126   0.730972   0.706514
         0          0          0          1
