2
  0.999111 -0.0367478  0.0206712 -0.0366193
-0.0151672  -0.770702  -0.637016   0.134336
 0.0393403   0.636136  -0.770574   0.769124
         0          0          0          1
  0.836925  -0.547052  0.0170636  -0.169901
  -0.42645  -0.671326  -0.606187 -0.0802689
  0.343071   0.500056  -0.795139    0.93241
         0          0          0          1
