2
  0.997815 -0.0600566  0.0275429   0.274365
-0.0313844  -0.797659  -0.602291   0.139621
 0.0581414   0.600111  -0.797801   0.622233
         0          0          0          1
 0.813414 -0.581537 0.0131375  0.119883
-0.466601 -0.665802  -0.58223 -0.078436
 0.347335  0.467464 -0.812918  0.772678
        0         0         0         1
