2
  0.997815  0.0600566 -0.0275429   0.271868
-0.0313844   0.797659   0.602291   0.181483
 0.0581414  -0.600111   0.797801   0.669658
         0          0          0          1
  0.813414   0.581537 -0.0131374   0.120982
 -0.466601   0.665802    0.58223 -0.0380142
  0.347335  -0.467464   0.812918   0.821388
         0          0          0          1
