2
  0.997705  0.0639528 -0.0222679  0.0426193
-0.0312478   0.726504   0.686452   0.121258
 0.0600782   -0.68418   0.726835   0.766781
         0          0          0          1
  0.818943   0.573678 -0.0150074  -0.100951
 -0.426373   0.625748   0.653182 -0.0795872
  0.384107   -0.52852   0.757053   0.942986
         0          0          0          1
