2
  0.993686  0.0847358 -0.0735368  0.0301074
-0.0352581   0.858073   0.512316  0.0184659
  0.106511  -0.506488   0.855643   0.732167
         0          0          0          1
  0.805811   0.586542 -0.0814659  -0.120481
  -0.48722   0.734883   0.471767  -0.214917
   0.33658  -0.340463   0.877952   0.846369
         0          0          0          1
