2
  0.996595  0.0593445 -0.0572343  0.0745716
0.00481727  -0.734921  -0.678136  0.0590076
-0.0823063   0.675551  -0.732705   0.679755
         0          0          0          1
  0.959438  -0.281296  0.0187472 -0.0502373
 -0.190344  -0.695404  -0.692952   -0.12828
  0.207962   0.661276   -0.72074   0.882125
         0          0          0          1
