2
  0.993968 -0.0216731   0.107504   0.130082
-0.0643302   0.678679   0.731613    0.17611
 -0.088817  -0.734116   0.673191    0.68035
         0          0          0          1
   0.957414     0.28605    0.039163 -0.00795818
  -0.219551    0.633229    0.742171   0.0147475
   0.187499   -0.719164    0.669065     0.90415
          0           0           0           1
