2
  0.993051  0.0356397  -0.112158   0.072022
-0.0467881  -0.754916  -0.654151  0.0133404
 -0.107983   0.654853  -0.748003   0.681094
         0          0          0          1
  0.823858   -0.54667  -0.149699 -0.0634376
 -0.506945  -0.592569  -0.625995  -0.166311
  0.253505   0.591621  -0.765324   0.880671
         0          0          0          1
