2
  0.998599  0.0487935 -0.0204427  0.0490499
-0.0216932   0.730115    0.68298   0.119796
 0.0482505   -0.68158   0.730151   0.765522
         0          0          0          1
   0.832909    0.553345 -0.00849523  -0.0927374
  -0.414388    0.633775    0.653154  -0.0813212
   0.366804   -0.540498    0.757177    0.941578
          0           0           0           1
