2
  0.997819 -0.0625051   0.021231   0.130685
 0.0342683   0.765356   0.642695  0.0931767
 -0.056421  -0.640565   0.765828   0.659016
         0          0          0          1
  0.969361    0.23498 -0.0715837 0.00083838
 -0.131569   0.742758   0.656506   -0.10907
  0.207435  -0.626973   0.750916   0.848718
         0          0          0          1
