2
  0.993388 -0.0676987  0.0927189   0.127131
-0.0221551     0.6794   0.733433   0.182102
 -0.112646  -0.730638   0.673408   0.680077
         0          0          0          1
  0.878527   0.465158   0.108709 0.00478532
 -0.391157   0.569876    0.72266  0.0171089
  0.274201  -0.677399   0.682601   0.906682
         0          0          0          1
