2
 0.0255788   0.994963  0.0969314  0.0380246
 -0.770324 -0.0421816   0.636256  -0.152372
   0.63714 -0.0909434   0.765364   0.924844
         0          0          0          1
 -0.482721   0.873617  0.0614377  -0.238456
 -0.641159  -0.400319   0.654721 -0.0427034
   0.59657   0.276656   0.753369   0.859118
         0          0          0          1
