2
  0.997501  0.0665503 -0.0237263    0.32714
 0.0390185  -0.798844  -0.600272 -0.0763267
-0.0589019   0.597846  -0.799444   0.663575
         0          0          0          1
 0.978157  -0.20397 0.0400698   0.19921
-0.140309 -0.790089 -0.596718 -0.290104
 0.153371  0.578062  -0.80145  0.828023
        0         0         0         1
