2
  0.0536277   -0.983764   -0.171266  -0.0673607
   0.939041 -0.00864564    0.343697  -0.0540339
  -0.339597   -0.179258    0.923331    0.708442
          0           0           0           1
 0.561957 -0.814582 -0.143736  0.199579
 0.801195  0.492831  0.339418    -0.173
-0.205646 -0.305899  0.929589  0.793205
        0         0         0         1
