2
  0.999163   0.018535 -0.0364598  0.0441043
 0.0116453   0.725608    0.68801   0.141006
 0.0392078  -0.687859   0.724785   0.757657
         0          0          0          1
  0.838022   0.545364 -0.0172258 -0.0908171
 -0.405432   0.643505    0.64925 -0.0645281
  0.365163  -0.537102    0.76038   0.937194
         0          0          0          1
