2
  0.998844 -0.0400662  0.0265523  0.0496031
-0.0112094  -0.731355  -0.681906  0.0886287
 0.0467405    0.68082  -0.730958   0.721046
         0          0          0          1
  0.837355  -0.546577  0.0094511 -0.0935444
 -0.407051  -0.634955  -0.656614  -0.113859
  0.364891   0.545972  -0.754167   0.896181
         0          0          0          1
