2
  0.994303 -0.0988501  0.0398736   0.106236
 0.0472483   0.744074   0.666424  0.0764903
-0.0955451  -0.660744   0.744506    0.67007
         0          0          0          1
  0.973365   0.226063 -0.0381665 -0.0100904
 -0.142835   0.728181   0.670336  -0.121222
  0.179331   -0.64703   0.741076   0.872881
         0          0          0          1
