2
  0.998599 -0.0487935  0.0204427   0.051154
-0.0216932  -0.730115   -0.68298  0.0731735
 0.0482505    0.68158  -0.730151   0.722747
         0          0          0          1
  0.832909  -0.553345 0.00849528 -0.0939741
 -0.414388  -0.633775  -0.653154  -0.126012
  0.366804   0.540498  -0.757177   0.896756
         0          0          0          1
