2
  0.12828   0.99139 0.0262654  0.128393
-0.555695 0.0499171  0.829886  0.114054
  0.82143 -0.121053  0.557314   0.76522
        0         0         0         1
 -0.420897   0.906807 -0.0233999  -0.166248
 -0.510633  -0.215534   0.832345   0.161649
  0.749733   0.362281   0.553763   0.676718
         0          0          0          1
