2
  0.993686 -0.0847358  0.0735368   0.035386
-0.0352581  -0.858073  -0.512316 -0.0180112
  0.106511   0.506488  -0.855643   0.680695
         0          0          0          1
 0.805811 -0.586542  0.081466 -0.117301
 -0.48722 -0.734883 -0.471767 -0.248719
  0.33658  0.340463 -0.877952  0.792934
        0         0         0         1
