2
  0.0702081    0.997532 0.000773583 0.000215607
  -0.791417   0.0552294    0.608777  -0.0447722
   0.607232  -0.0433535    0.793341    0.866359
          0           0           0           1
 -0.489359   0.870372 -0.0545973  -0.284372
 -0.711104  -0.362002   0.602732  0.0353419
  0.504837   0.333777   0.796074   0.783844
         0          0          0          1
