2
  0.997404 -0.0705335 -0.0144663  0.0669888
 -0.064433  -0.784688  -0.616533  0.0243016
 0.0321347   0.615865  -0.787196    0.62623
         0          0          0          1
  0.826013  -0.563643 0.00306647  -0.082077
 -0.447015   -0.65839  -0.605558  -0.173008
  0.343338   0.498828  -0.795795   0.799251
         0          0          0          1
