2
  0.996438    0.01295  0.0833334  0.0784668
 -0.065547   0.740673   0.668661  0.0588294
-0.0530636  -0.671741   0.738883   0.681944
         0          0          0          1
 0.843195  0.531246 0.0824593 -0.060859
-0.450232  0.613979  0.648322 -0.123566
  0.29379 -0.583788  0.756888  0.881604
        0         0         0         1
